2008
DOI: 10.1016/j.robot.2007.09.019
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Online generation of cyclic leg trajectories synchronized with sensor measurement

Abstract: The generation of trajectories for a biped robot is a problem which has been largely studied for several years, and many satisfying off-line solutions exist for steady-state walking in absence of disturbances. The question is a little more complex when the generation of the desired trajectories of joints or links has to be achieved or adapted online, i.e. in real time, for example when it is wished to strongly synchronize these trajectories with an external motion. This is precisely the problem addressed in th… Show more

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Cited by 16 publications
(12 citation statements)
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“…Equation (13) models a Van der Pol oscillator with control input. The Van der Pol oscillator is a standard example of a nonlinear control system (see, e.g., [44] for a longer discussion) and is widely used in applications, including human locomotion [45], robotics [46], [47], and laser dynamics [48].…”
Section: B Van Der Pol Oscillatormentioning
confidence: 99%
“…Equation (13) models a Van der Pol oscillator with control input. The Van der Pol oscillator is a standard example of a nonlinear control system (see, e.g., [44] for a longer discussion) and is widely used in applications, including human locomotion [45], robotics [46], [47], and laser dynamics [48].…”
Section: B Van Der Pol Oscillatormentioning
confidence: 99%
“…Human gait is a cyclic phenomenon which behavior can be represented by a non-linear oscillator [5]. Based on this, we have proposed a method to monitor the evolution of ongoing gait cycles instead of individual discrete events as in the existing approaches.…”
Section: Fes-drop-foot Correction: From Pre-programmed Patterns To Onmentioning
confidence: 99%
“…Van der Pol oscillators (VDP) are also popular for CPGs [11], [73] , [78], [89]. The benefits of these oscillators are that they have stable limit cycles and relatively interpretable coefficients.…”
Section: Systems Of Differential Equationsmentioning
confidence: 99%