The International Journal of Robotics Research

 

Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Click here to register and gain free access

SAGETRACK

Sign In to gain access to subscriptions and/or personal tools.
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in ISI Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via ISI Web of Science (1)
Right arrow Citing Articles via Google Scholar
Google Scholar
Right arrow Articles by Sabourin, C.
Right arrow Articles by Buche, G.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati  
What's this?
The International Journal of Robotics Research, Vol. 25, No. 9, 843-860 (2006)
DOI: 10.1177/0278364906069151

Control Strategy for the Robust Dynamic Walk of a Biped Robot

Christophe Sabourin

Laboratoire Images Signaux, et Systèmes Intelligents (LISSI EA/3956) Université Paris-XII, IUT de Sénart Avenue Pierre Point, 77127 Lieusaint, France, sabourin{at}univ-paris12.fr

Olivier Bruneau

Laboratoire Vision et Robotique Ecole Nationale Supérieure d’Ingénieurs de Bourges 10 Bd Lahitolle 18020 BOURGES, France, olivier.bruneau{at}ensi-bourges.fr

Gabriel Buche

Laboratoire d’Automatique de Grenoble INPG-ENSIEG BP 46 38402 Saint-Martin-d’Hères, France, Gabriel.Buche{at}inpg.fr

This paper presents the main simulation and experimental results from studies of the robustness of a proposed new control strategy for the under-actuated robot RABBIT. The disturbances studied include modifications of the characteristics of the foot/ground interaction and the application of external forces to the trunk of the robot. These two kinds of disturbance correspond to those most frequently encountered by biped robots during walking in an unknown environment.

Key Words: under-actuated biped robot • dynamic walking gait • CMAC neural networks • robustness


Add to CiteULike CiteULike   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati    What's this?