Virtual model control of a bipedal walking robot

Pratt, Jerry; Dilworth, P.; Pratt, Gill A.

doi:10.1109/robot.1997.620037

Cited by 232 publications

(135 citation statements)

References 15 publications

Supporting

Mentioning

132

Contrasting

Unclassified

Order By: Relevance

“…The idea of using intuitive controllers for simpler models on complex robots led to the development of operational space controls [14] and virtual model controls [15]. Both make use of the principle of virtual work and the Jacobian to perform actions in a task space.…”

Section: A Related Workmentioning

confidence: 99%

Integral control of humanoid balance

Stephens

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Abstract-This paper presents a balance controller that allows a humanoid to recover from large disturbances and still maintain an upright posture. Balance is achieved by integral control, which decouples the dynamics and produces smooth torque signals. Simulation shows the controller performs better than other simple balance controllers. Because the controller is inspired by human balance strategies, we compare human motion capture and force plate data to simulation. A model tracking controller is also presented, making it possible to control complex robots using this simple control.

show abstract

Section: A Related Workmentioning

confidence: 99%

Integral control of humanoid balance

Stephens

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

show abstract

“…Raibert and the group led by his successor Gill Pratt developed series elastic actuators, forcecontrolled actuators that include springs in series to improve fidelity, cushion impacts and store energy [7]. They also developed "virtual model control", a form of equilibrium point control used to drive walking over rough terrain [8]. Finally, Pratts group designed and built a 12 degree of freedom biped (called M2) made to mimic human legs and walk and run independently and in three dimensions.…”

Section: Monopeds and Bipedsmentioning

confidence: 99%

Advanced robot locomotion.

Neely¹,

Sturgis²,

Byrne³

et al. 2007

View full text Add to dashboard Cite

This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.3 4

show abstract

“…On the contrary, the use of springs in robot joints have soon been recognized as an interesting way of realizing energy storage or impact absorption and many works have been reported in the literature. Although run-ning or hopping robots be obviously firstly concerned by this approach (see [4,15] and, more generally, the work done in the MIT LegLab 1 ), the case of walking machines is also considered (cf. [5,6] and Pratt's turkeys [14]).…”

Section: A Brief Tour Of the Literaturementioning

confidence: 99%

Can an underactuated leg with a passive spring at the knee achieve a ballistic step?

Espiau

Guigues

Pissard-Gibollet

2000

Experimental Robotics VI

View full text Add to dashboard Cite

Abstract:In this paper, we present the design and the results of a control scheme aimed at moving an underactuated double pendulum simulating a leg. The system is actuated at the hip and includes a spring at the knee. It interacts with the grou nd, which is in fact a treadmill, through a telescopic foot made of a linear spri ng and a damper. The control scheme is different in the 2 phases, swing and stance, and a repetitive step is achieved by switching between these two controls. The paper describes the used models, the control algorithms and their implementation. It pr esents also experimental results of the approach. Key-words:

show abstract

Virtual model control of a bipedal walking robot

Cited by 232 publications

References 15 publications

Integral control of humanoid balance

Integral control of humanoid balance

Advanced robot locomotion.

Can an underactuated leg with a passive spring at the knee achieve a ballistic step?

Contact Info

Product

Resources

About