[1] |
Huang Q,Yokoi K,Kajita S,et al.Planning walking patterns for a biped robot[J].IEEE Transactions on Robotics and Automation,2001,17(3):280-289.
|
[2] |
伍科布拉托维奇.步行机器人和动力型假肢[M].北京:科学出版社,1988.
|
[3] |
Ishida T.Development of a small biped entertainment robot QRIO[A].Proceedings of the 2004 International Symposium on MicroNanoMechatronics and Human Science[C].New York,NY,USA:IEEE,2004.23-28.
|
[4] |
Sakagami Y,Watanabe R,Aoyama C,et al.The intelligent ASIMO:system overview and integration[A].Proceedings of the IEEEInternational Conference on Intelligent Robots and Systems[C].Piscataway,NJ,USA:IEEE,2002.2478-2483.
|
[5] |
Hirai K,Hirose M,Haikawa Y,et al.Development of Honda humanoid robot[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1998.1321-1326.
|
[6] |
McGeer T.Passive dynamic walking[J].The International Journal of Robotics Research,1990,9(2):62-82.
|
[7] |
Collins S,Ruina A,Tedrake R,et al.Efficient bipedal robots based on passive-dynamic walkers[J].Science,2005,307(5712):1082-1085.
|
[8] |
Wisse M,Schwab A L,Linde R Q V.A 3D passive dynamic biped with yaw and roll compensation[J].Robotica,2001,19(3):275-284.
|
[9] |
McGeer T.Passive walking with knees[A].Proceedings of the IEEE Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1990.1640-1645.
|
[10] |
McGeer T.Passive bipedal running[J].Proceedings of the Royal Society of London Series B,Biological Sciences,1990,240(1297):107-134.
|
[11] |
Asano F,Yamakita M,Kamamichi N,et al.A novel gait generation for biped walking robots based on mechanical energy constraint[J].IEEE Transactions on Robotics,2004,20(3):565-573.
|
[12] |
Pratt J,Pratt G.Exploiting natural dynamics in the control of a planar bipedal walking robot[J].Proceedings of the Thirty-Sixth Annual Allerton Conference on Communication,Control and Computing[C].Urbana,IL,USA:University of Illinois,1998.739-748.
|
[13] |
Collins S H,Ruina A.A bipedal walking robot with efficient and human-like gait[A].Proceedings of the IEEE Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,2005.1983-1988.
|
[14] |
Tedrake R,Zhang T W,Seung H S.Stochastic policy gradient reinforcement learning on a simple 3D biped[A].Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems[C].New York,NY,USA:IEEE,2004.2849-2854.
|
[15] |
Wisse M.Essentials of Dynamic Walking:Analysisand Design of Two-Legged Robots[D].Netherlands:TU Delft,2004.
|
[16] |
Wisse M,van Frankenhuyzen J.Design and construction of MIKE;a 2D autonomous biped based on passive dynanic walking[A].Proceedings of the International Symposium on Adaptive Motions of Animals and Machines[C].Tokyo,Japan:Springer-Verlag,2003.143-154.
|
[17] |
Wisse M,Schwab A L,van der Helm F C T.Passive dynamic walking model with upper body[J].Robotica,2004,22(6):681-688.
|
[18] |
Wisse M.Three additions to passive dynamic walking; actuation,an upper body,and 3 D stability[A].Proceedings of the IEEE International Conference on Humanoid Robots[C].New York,NJ,USA:IEEE,2004.113-132.
|
[19] |
Schuitema E,Hobbelen D G E,Jonker P P,et al.Using a controller based on reinforcement learning for a passive dynamic walking robot[A].Proceedings of the IEEE/RAS International Conference on Humanoid Robots[C].New York,NY,USA:IEEE,2005.232-237.
|
[20] |
Garcia M,Chatterjee A,Ruina A.Speed,efficiency,and stability of small-slope 2D passive dynamic bipedal walking[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1998.2351-2356.
|
[21] |
Chatterjee A,Garcia M.Small slope implies low speed for McGeer's passive walking machines[J].Dynamics and Stability of Systems,2000,15(2):139-157.
|
[22] |
Wisse M,Schwab A L,van der Linde R Q,et al.How to keep from falling forward:elementary swing leg action for passive dynamic walkers[J].IEEE Transactions on Robotics,2005,21(3):393-401.
|
[23] |
Srinivasan M,Ruina A.Computer optimization of a minimal biped model discovers walking and running[J].Nature,2006,439(7072):72-75.
|
[24] |
Gordon K E,Ferris D P,Kuo A D.Reducing vertical center of mass movement during human walking doesn't necessarily reduce metabolic cost[A].Proceedings of the 27th Annual Meeting of American Society of Biomechanics[C].American Society of Biomechanics,Toledo,Ohio,2003.http://www-personal.engin.umich.edu/~artkuo/Papers/ASB03GordonPoster.pdf.
|
[25] |
Kuo A D,Donelan J M,Ruina A.Energetic consequences of walking like an inverted pendulum:step-to-step transitions[J].Exercise and Sport Sciences Reviews,2005,33(2):88-97.
|
[26] |
Zajac F.Muscle and tendon:properties,models,scaling and application to biomechanics and motor control[J],CRC Critical Reviews in Biomedical Engineering,1989,17(4):359-411.
|
[27] |
Endo G,Morimoto J,Nakanishi J,et al.An empirical exploration of a neural oscillator for biped locomotion control[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,2004.3036-3042.
|
[28] |
Nakanishi J,Morimoto J,Endo G,et al.An empirical exploration of phase resetting for robust biped locomotion with dynamical movement primitives[A].Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems[C].New York,NY,USA:IEEE,2004.919-924.
|
[29] |
Morimoto J,Nakanishi J,Endo E,et al.Poincaré-map-based reinforcement learning for biped walking[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].New York,NY,USA:IEEE,2005.2381-2386.
|
[30] |
Geng T,Porr B,Worgotter F.Fast biped walking with a sensordriven neuronal controller and real-time online learning[J].The International Journal of Robotics Research,2006,25(3):243-259. 
|