Towards the design of a biped jogging robot

Gienger, Michael; Löffler, K.; Pfeiffer, Friedrich

doi:10.1109/robot.2001.933265

Cited by 124 publications

(74 citation statements)

References 4 publications

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“…Research on biped humanoid robots is currently one of the most exciting topics in the field of robotics and there are many ongoing projects [1,2,3,4,21]. From the viewpoint of control and walking pattern generation these works can be classified into two categories.…”

Section: Introductionmentioning

confidence: 99%

Biped walking pattern generation by using preview control of zero-moment point

Kajita

Kanehiro

Kaneko

et al.

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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Section: Introductionmentioning

confidence: 99%

Biped walking pattern generation by using preview control of zero-moment point

Kajita

Kanehiro

Kaneko

et al.

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

1,700

1,423

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“…Since our intention is to add a running function to a versatile humanoid robot, we started with a mechanism without springs. A similar approach is taken by Gienger et al [1].…”

Section: Introductionmentioning

confidence: 98%

“…Research on humanoid robots is currently one of the most exciting topics in the field of robotics and there exist many projects [1]- [5]. Most of them are focusing on biped walking as an important subject and have already demonstrated reliable dynamic biped walking.…”

Section: Introductionmentioning

confidence: 99%

A hop towards running humanoid biped

Kajita

Nagasaki

Kaneko

et al. 2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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Abstract-Aiming for a humanoid robot of the next generation, we have been developing a biped which can jump and run. This paper introduces biped robot HRP-2LR and its hopping with both legs as our first attempt towards running. Using a dynamic model of HRP-2LR, hopping patterns are pre-calculated so that it follows the desired profiles of the total linear and angular momentum. For this purpose we used Resolved Momentum Control. Adding small modifications to negotiate the difference between the model and the real hardware, we successfully realized a steady hopping motion of 0.

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“…[6]. HRP is another humanoid robotics project, coordinated by METI in Japan resulting in the development of two humanoid platforms HRP and HRP-2 [7][8].…”

Section: Introductionmentioning

confidence: 99%

Lower Body Design of the `iCub' a Human-baby like Crawling Robot

Tsagarakis

Sinclair

Becchi

et al. 2006

2006 6th IEEE-RAS International Conference on Humanoid Robots

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-The development of robotic cognition and a greater understanding of human cognition form two of the current greatest challenges of science. Within the RobotCub project the goal is the development of an embodied robotic child (iCub) with the physical and ultimately cognitive abilities of a 2 ½ year old human baby. The ultimate goal of this project is to provide the cognition research community with an open human like platform for understanding of cognitive systems through the study of cognitive development. In this paper the design of the mechanisms adopted for lower body and particularly for the leg and the waist are outlined. This is accompanied by discussion on the actuator group realisation in order to meet the torque requirements while achieving the dimensional and weight specifications. Estimated performance measures of the iCub are presented.

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Towards the design of a biped jogging robot

Cited by 124 publications

References 4 publications

Biped walking pattern generation by using preview control of zero-moment point

Biped walking pattern generation by using preview control of zero-moment point

A hop towards running humanoid biped

Lower Body Design of the `iCub' a Human-baby like Crawling Robot

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