2014 IEEE-RAS International Conference on Humanoid Robots 2014
DOI: 10.1109/humanoids.2014.7041350
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High-speed bipedal robot running using high-speed visual feedback

Abstract: This paper presents a new method of realizing high-speed bipedal running with a high-speed robot using highspeed visual feedback. First, to achieve high-speed running with simple control, we developed a biped robot composed of lightweight high-torque actuators. Next we propose a control strategy which does not depend on typical methods based on a zero moment point, but instead modifies the robot's posture by high-speed visual feedback. In the strategy, by adding instantaneous high torque, we confirmed that the… Show more

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Cited by 21 publications
(6 citation statements)
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“…A similar approach that incorporates model predictive control for the purpose of modifying the footsteps, CoM and CoP, is proposed in [10]. It has also been demonstrated however, that non-ZMP-based algorithms could lead to equally impressive results, as attests the work presented in [11], which entails the use of a highspeed camera to -time, thereby allowing it to perform high-speed running.…”
Section: Introductionmentioning
confidence: 94%
“…A similar approach that incorporates model predictive control for the purpose of modifying the footsteps, CoM and CoP, is proposed in [10]. It has also been demonstrated however, that non-ZMP-based algorithms could lead to equally impressive results, as attests the work presented in [11], which entails the use of a highspeed camera to -time, thereby allowing it to perform high-speed running.…”
Section: Introductionmentioning
confidence: 94%
“…The back-flip of Atlas inspired the quadrupedal locomotion community which recently has built and controlled electric-powered quadrupedal robots to perform backflips [4], [5]. However, these results have not been widely seen on full-scale bipedal robots, despite the existence of studies of bipedal somersaulting in [6], [7], [8]. This is in part due to the fact that bipedal robots typically have more complex designs and, roughly speaking, less region of stability comparing to quadrupeds.…”
Section: Introductionmentioning
confidence: 99%
“…However, these robots do not have a human-like structure. Some studies have shown that bipedal humanoid robots can run [5][6][7][8][9]. For example, the Advanced Step in Innovative MObility (ASIMO) humanoid robot, which was designed and developed by Honda, can run at a speed of 2.5 m/s [10].…”
Section: Introductionmentioning
confidence: 99%