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Non-linear robust control for inverted-pendulum 2D walking
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
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We present an approach to high-level control for bipedal walking exemplified with a 2D point-mass inextensiblelegs inverted-pendulum model. ...
The general form of the resulting optimized controller suggests a few simple principles for regulating walking speed: 1) The robot should take bigger steps when speeding up and should also take bigger ...
Thanks to Petr Zaytzev for his insights about the nature of the control laws for the simplest walker, and to Anoop Grewal for his work on the simplest walker model. ...
doi:10.1109/icra.2015.7139800
dblp:conf/icra/KellyR15
fatcat:323enqxb6vc55gsmfebt5f7rnq
Normalized Neural Network for Energy Efficient Bipedal Walking Using Nonlinear Inverted Pendulum Model
2019
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)
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In this paper, we present a novel approach for bipedal walking pattern generation. The proposed method is designed based on 2D inverted pendulum model. ...
To obviate the need of solving non-linear dynamics on-line, a deep neural network is adopted for fast non-linear mapping from desired states to control variables. ...
II. 2D INVERTED PENDULUM MODEL The walking bipedal robot model is considered to be a 2D IPM and only forward walking on a flat ground is discussed. ...
doi:10.1109/robio49542.2019.8961646
dblp:conf/robio/WangHL0Z19
fatcat:gw33hs3hbzfhzcyfnzjfu54ll4
Supplementary Appendix to: Walking crowds on a shaky surface: The mechanics of stable walking predict Millennium bridge oscillations with and without pedestrian synchrony from Walking crowds on a shaky surface: stable walkers discover Millennium Bridge oscillations with and without pedestrian synchrony
2018
Figshare
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S10 An impulsively stabilized inverted pendulum We have used a mechanistically-motivated feedback controller for human walking to show that bridgeshaking naturally emerges from these dynamics coupled to ...
Similarly, continuous (non-impulsive) stabilization of inverted pendulum using a traditional PD controller goes unstable at large delay in the feedback [28] . ...
Step-length, stepwidth and push-off impulse can change in response to bridge motion Table S1 : Features of some previous articles on 3D walking or interaction with bridge surface, showing how our article ...
doi:10.6084/m9.figshare.7228337
fatcat:k6dy6gn67nftzak7ubpw45ko2i
Estimation and Closed-Loop Control of COG/ZMP in Biped Devices Blending CoP Measures and Kinematic Information
2019
Robotics
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In order to achieve this result, we introduce a model of the linearized inverted pendulum for an extended estimation, not only of C O G and Z M P , but also of external disturbances. ...
The zero moment point ( Z M P ) and the linearized inverted pendulum model linking the Z M P to the center of gravity ( C O G ) have an important role in the control of the postural equilibrium (balance ...
Robustness was shown by applying the control designed for a linearized inverted pendulum to two non-linear systems: a three-DOF kinematic chain of an actual mechanical small-scale leg and the simulation ...
doi:10.3390/robotics8040089
fatcat:5dliqt2n2rcy7ofdqlnrrwsw5i
Computer optimization of a minimal biped model discovers walking and running
2005
Nature
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At low speeds the optimization discovers the classic inverted-pendulum walk [8; 9; 10; 11; 12; 13], at high speeds it discovers a bouncing run [12; 14] 1 , even without springs, and at intermediate speeds ...
It is word-for-word the same as the published version, except where noted explicitly as footnotes. ...
The pendular stance portions we found, withl = 0, seem to be singular arcs of the optimal control. ...
doi:10.1038/nature04113
pmid:16155564
fatcat:lse4bhutozeklb3qgkuxkgyfr4
Dynamic Balancing and Walking for Real-Time 3D Characters
[chapter]
2011
Lecture Notes in Computer Science
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To achieve this we use an inverted pendulum as a basis for achieving a self-balancing model. ...
We demonstrate responsiveness in stepping and posture control via a simplified biped skeletal model using our technique. ...
Inverted Pendulum The linear inverted pendulum (IP) may generate predictive foot placement information for balancing characters in 2D and 3D (e.g., [24, 29] ). ...
doi:10.1007/978-3-642-25090-3_6
fatcat:q422ado2wvecdow2uhk4e7mkk4
Dynamic Walkng of Legged Machines
[article]
2018
arXiv
pre-print
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In this project, we aim to develop a bipedal walking control system based on a simple model the Linear Inverted Pendulum model. ...
Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. ...
Zhibin Li, for his patience, guidance and help. ...
arXiv:1805.05980v1
fatcat:e4lmdku4ezeilmt6rry7iuya5q
The Rh-1 Full-Size Humanoid Robot: Control System Design and Walking Pattern Generation
[chapter]
2010
Climbing and Walking Robots
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In this way, it is possible to use the 2D Inverted pendulum model to obtain stable and smooth walking motion. ...
strategy allowing for the use of traditional controllers such as the linear quadratic regulator (LQR) or a simple PID controller to regulate the inverted pendulum about the upright equilibrium point. ...
doi:10.5772/10422
fatcat:rxwi5xwdr5gathgzzyyymqe3i4
Biologically Inspired Self-Stabilizing Control for Bipedal Robots
2013
International Journal of Advanced Robotic Systems
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The entrainment nature inherent to neural oscillators also achieved stable and robust walking even in the presence of unexpected disturbances, in that the centre of mass (COM) was successfully kept in ...
Despite recent major advances in computational power and control algorithms, the stable and robust control of a bipedal robot is still a challenging issue due to the complexity and high nonlinearity of ...
Modern robot control based on motion planning based approaches, i.e., the zero moment point criterion [1, 2] , the threedimensional linear inverted pendulum model [3] and virtual model-based control ...
doi:10.5772/55463
fatcat:gfg3f2m2lbafhfadhpnuufisy4
Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller
[article]
2021
arXiv
pre-print
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The ubiquitous massless-legged linear inverted pendulum (LIP) model is based on it. ...
In the control of bipedal locomotion, linear velocity of the center of mass has been widely accepted as a primary variable for summarizing a robot's state vector. ...
LINEAR INVERTED PENDULUM MODEL This section provides the ubiquitous Linear Inverted Pendulum (LIP) model of Kajita et al. [18] . ...
arXiv:2008.10763v2
fatcat:ta3e4mmvgbetzishfnuvd64rzm
From 2D Design of Underactuated Bipedal Gaits to 3D Implementation: Walking With Speed Tracking
2016
IEEE Access
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Analysis and controller design methods abound in the literature for planar (aka 2D) bipedal models. ...
This paper takes one of them developed for underactuated bipeds and documents the process of designing a family of controllers on the basis of a planar model and achieving stable walking on a physical ...
ACKNOWLEDGEMENT Professor Jonathan Hurst (Oregon State University) and Mikhail Jones (Agility Robotics) are sincerely thanked for their advice on controller design for ATRIAS-series robots. ...
doi:10.1109/access.2016.2582731
fatcat:w2v64pj6azh4pf65hvekv7liyu
Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction
2016
IEEE Transactions on Automatic Control
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Kowalczyk, Robust chaos and border-collision bifurcations in non-invertible piecewise-linear
maps. Nonlinearity 18 (2005), no. 2, 485-504.
X. ...
Generating oscillations in inertia wheel pendulum via two-relay controller. Internat. J. Robust Nonlinear Control 22 (2012), no. 3, 318-330. C. Lin, Wang, Q.G. Lee, H. Tong. ...
doi:10.1109/tac.2015.2459151
fatcat:3agfj5ymmjdhhmulz5i2wxqmty
BIPED LOCOMOTION: STABILITY, ANALYSIS AND CONTROL
2008
International Journal on Smart Sensing and Intelligent Systems
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A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion. ...
The model is well-known as Linear Inverted Pendulum Model (LIPM) for its linearity [9, 10, 11] . In [9, 11] , the LIPM is used for real-time ZMP following. ...
In [13] , two-mass inverted pendulum model is used for designing linear optimal control to track the ZMP trajectory. The technique uses ZMP as a feedback. ...
doi:10.21307/ijssis-2017-286
fatcat:lk45nhgmgfc7vpfdcq6n44rfsm
A new approach on human–robot collaboration with humanoid robot RH-2
2011
Robotica (Cambridge. Print)
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The inner loop, called posture stability control loop, acts to guarantee the stability of humanoid for different poses determined by motion patterns. ...
The outer loop, called collaborative control loop, is devoted to the generation of stable motion patterns for a robot, given a specific manipulation task. ...
Humanoid gait is often modeled with various versions of inverted pendulum, such as 2D and 3D linear inverted pendulums (LIP), 14, 15 the cart-table model, 16 the variable impedance LIP, 17 the spring-loaded ...
doi:10.1017/s026357471100018x
fatcat:asqz5axvxvbuxotvjgnn574ziq
A Computational Mechatronics Approach for the Analysis, Synthesis and Design of a Simple Active Biped Robot: Theory and Experiments
2006
Applied Bionics and Biomechanics
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The result is an advanced computational tool that integrates advanced modeling and control as well as path planning techniques along with hardware-in-the-loop for perhaps the simplest biped robot. ...
To this end, a computational mechatronics platform was integrated to run the scheme for the analysis, synthesis and design to achieve planar biped walking. ...
, which achieves fast and robust control. ...
doi:10.1155/2006/289145
fatcat:c7sypc35gjghldfhqxtwkbift4
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