Mechanics and Control of Biomimetic Locomotion

  • J. Burdick
  • B. Goodwine
  • R. Mason
Conference paper

Abstract

Biomimetic locomotion refers to the movement of robotic mechanisms in ways that are analogous to the patterns of movement found in nature. This paper reviews progress towards the development of more unifying principles for the analysis and control of biomimetic robotic locomotion.

Keywords

Nonholonomic Constraint Robotic Research Locomotion System Legged Robot Boundary Deformation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
This is a preview of subscription content, log in to check access.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Burdick, J. and J. Ostrowski (1995). Geometric perspectives on the mechanics and control of robotic locomotion. In Proc. 7 th Int. Symp. Robotics Research, Germany.Google Scholar
  2. Chirikjian, G. and J. Burdick (1995). The kinematics of hyper-redundant robot locomotion. IEEE Trans, on Robotics and Automation 11(6), 781–793.CrossRefGoogle Scholar
  3. Goodwine, G. and J. Burdick (1997). Trajectory generation for kinematic legged robots. In Proc. IEEE Int. Conf. Robotics and Automation, Albuquerque, NM.Google Scholar
  4. Hirose, S. and et al (1985). Titan III: A quadruped walking vehicle. In 2 nd Int. Symp. on Robotics Research, Tokyo, Japan.Google Scholar
  5. Hirose, S. and Y. Umetani (1976). Kinematic control of active cord mechanism with tactile sensors. In Proc. 2 nd Int. CISM-IFT Symp. on Theory and Practice of Robots and Manipulators, pp. 241–252.Google Scholar
  6. Kajita, S. and K. Tani (1991). Study of dynamic biped locomotion on rugged terrain. In Proc. IEEE Int. Conf. Robotics and Automation, Sacramento, CA, pp. 1405–1411.Google Scholar
  7. Kelly, S., R. Mason, C. Anhalt, R. Murray, and J. Burdick (1998). Modeling and experimental investigation of carangiform locomotion for control. In (submitted) Proc. Americal Control Conference.Google Scholar
  8. Kelly, S. and R. Murray (1995, June). Geometric phases and robotic locomotion. Journal of Robotic Systems 12(6), 417–431.CrossRefMATHGoogle Scholar
  9. Kelly, S. and R. Murray (1996). The geometry and control of dissipative systems. In Proc. IEEE Conf. on Decision and Control.Google Scholar
  10. Koditschek, D. and M. Buhler (1991, Dec). Analysis of a simplified hopping robot. Int. J. of Robotics Research 10(6), 587–605.CrossRefGoogle Scholar
  11. McGeer, T. (1990). Passive dynamic walking. Int. J. of Robotics Research 9(2), 62–82.CrossRefGoogle Scholar
  12. M’Closkey, R. and J. Burdick (1993, June). On the periodic motions of a hopping robot with vertical and forward motion. Int. J. of Robotics Research 12(3), 197–218.CrossRefGoogle Scholar
  13. Ostrowski, J. (1995, Sept.). The Mechanics and Control of Undulatory Robotic Locomotion. Ph. D. thesis, California Institute of Technology, Pasadena, CA.Google Scholar
  14. Ostrowski, J. and J. Burdick. Control of mechanical systems with symmetries and non-holonomic constraints. J. of Applied Mathematics and Computer Science (to appear).Google Scholar
  15. Raibert, M. (1986). Legged Robots that Balance. MIT Press.Google Scholar
  16. Song, S. and K. Waldron (1989). Machines that walk: the Adaptive Suspension Vehicle. MIT Press.Google Scholar

Copyright information

© Springer-Verlag London Limited 1998

Authors and Affiliations

  • J. Burdick
    • 1
  • B. Goodwine
    • 1
  • R. Mason
    • 1
  1. 1.Mechanical EngineringCALTECHPasdenaUSA

Personalised recommendations