Title

Using the generalized inverted pendulum to generate less energy-consuming trajectories for humanoid walking

Journal title

Archive of Mechanical Engineering

Yearbook

2016

Volume

vol. 63

Issue

No 2

Authors

Omran, Sahab ; Sakka, Sophie ; Aoustin, Yannick

Keywords

inverted pendulum ; pivot point ; walking robots ; energy consumption ; joint torques

Divisions of PAS

Nauki Techniczne

Coverage

245-262

Publisher

Polish Academy of Sciences, Committee on Machine Building

Date

2016.06.29

Type

Artykuły / Articles

Identifier

DOI: 10.1515/meceng-2016-0014 ; ISSN 0004-0738, e-ISSN 2300-1895

Source

Archive of Mechanical Engineering; 2016; vol. 63; No 2; 245-262

References

Ackerman (2012), Aldebaran Robotics Introduces Romeo Finally In, IEEE Spectrum. ; Chevallereau (2001), Optimal reference trajectories for walking and running of a biped robot In, Robotica, 19, 557, doi.org/10.1017/S0263574701003307 ; Harada (2009), Toward human - like walking pattern generator In The RSJ International Conference on Intelligent Robots and Systems, IEEE. ; Kajita (2001), The Linear Inverted Pendulum mode : A simple modelling biped walking pattern generation In Proceedings of the RSJ International Conference on Intelligent Robots and Systems Maui Hawaii USA, IEEE. ; Soechting (1995), Moving Effortlessly in Three Apply to Arm Movement In The of, Journal Neuroscience, 15, 6271. ; Hayot (2013), Biomechanical modeling of the center of mass trajectory during walking In Movement and Sport and Motricité, Sciences Science. ; Zijlstra (1997), Hof At Displacement of the pelvis during human walking : experimental data and model predictions In Gait &, Posture, 6, 249, doi.org/10.1016/S0966-6362(97)00021-0 ; Berret (null), The inactivation principle : mathematical solutions minimizing the absolute work and biological implications for the planning of arm movements In, PLoS Computational Biology, 4, doi.org/10.13712008