{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,5]],"date-time":"2026-07-05T03:33:15Z","timestamp":1783222395411,"version":"3.54.6"},"reference-count":33,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2006,9,1]],"date-time":"2006-09-01T00:00:00Z","timestamp":1157068800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2006,9]]},"abstract":"<jats:p>A real-time joint trajectory generator for planar walking bipeds is proposed. In the near future this trajectory planner will be implemented on the robot \u201cLucy\u201d, which is actuated by pleated pneumatic artificial muscles. The trajectory planner generates dynamically stable motion patterns by using a set of objective locomotion parameters as its input, and by tuning and exploiting the natural upper body dynamics. The latter can be determined and manipulated by using the angular momentum equation. Basically, trajectories for hip and swing foot motion are generated, which guarantee that the objective locomotion parameters attain certain prescribed values. Additionally, the hip trajectories are slightly modified such that the upper body motion is steered naturally, meaning that it requires practically no actuation. This has the advantage that the upper body actuation hardly influences the position of the Zero Moment Point. The effectiveness of the strategy developed is demonstrated by simulation results. A first simulation is performed under the assumption of perfect tracking by the controllers of the different actuators. This allows one to verify the effectiveness of the trajectory planner and to evaluate the postural stability. A second simulation is performed while taking the control architecture of the real robot into account. In order to have a more realistic simulation the proposed control architecture is evaluated with a full hybrid dynamic simulation model of the biped \u201cLucy\u201d. This simulator combines the dynamical behaviour of the robot with the thermodynamical effects that take place in the muscle-valves actuation system. The observed hardware limitations of the real robot and expected model errors are taken into account in order to give a realistic qualitative evaluation of the control performance and to test the robustness.<\/jats:p>","DOI":"10.1177\/0278364906069343","type":"journal-article","created":{"date-parts":[[2006,8,23]],"date-time":"2006-08-23T10:18:08Z","timestamp":1156328288000},"page":"867-887","source":"Crossref","is-referenced-by-count":19,"title":["Trajectory Planning for the Walking Biped \u201cLucy\u201d"],"prefix":"10.1177","volume":"25","author":[{"given":"J.","family":"Vermeulen","sequence":"first","affiliation":[{"name":"Vrije Universiteit Brussel Department of Mechanical Engineering Pleinlaan                         2, 1050 Brussels, Belgium,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"B.","family":"Verrelst","sequence":"additional","affiliation":[{"name":"Vrije Universiteit Brussel Department of Mechanical Engineering Pleinlaan                         2, 1050 Brussels, Belgium,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"B.","family":"Vanderborght","sequence":"additional","affiliation":[{"name":"Vrije Universiteit Brussel Department of Mechanical Engineering Pleinlaan                         2, 1050 Brussels, Belgium,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"D.","family":"Lefeber","sequence":"additional","affiliation":[{"name":"Vrije Universiteit Brussel Department of Mechanical Engineering Pleinlaan                         2, 1050 Brussels, Belgium,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"P.","family":"Guillaume","sequence":"additional","affiliation":[{"name":"Vrije Universiteit Brussel Department of Mechanical Engineering Pleinlaan                         2, 1050 Brussels, Belgium,"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2006,9,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(00)00101-9"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(02)00351-2"},{"key":"atypb3","unstructured":"Daerden, F. 1999.\n                      Conception and Realization of Pleated Pneumatic                     Artificial Muscles and Their Use as Compliant Actuation Elements\n                      . PhD                 thesis, Vrije Universiteit Brussel."},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1080\/14399776.2001.10781119"},{"key":"atypb5","first-page":"28","volume-title":"Proceedings of the Conference on Biomechanics and Neural Control of Movement","author":"Fowble, J."},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066376"},{"key":"atypb7","first-page":"3785","volume-title":"Proceedings ICRA \u201904, IEEE International Conference on Robotics and Automation","author":"Goswami, A."},{"key":"atypb8","first-page":"1","volume-title":"Workshop - Biomechanics Meets Robotics, Modelling and Simulation of Motion","author":"Hardt, M."},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(77)90038-4"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1115\/1.2900797"},{"key":"atypb11","first-page":"1405","volume-title":"Proceedings 1991 IEEE International Conference on Robotics and Automation","author":"Kajita, S."},{"key":"atypb12","first-page":"31","volume-title":"Proceedings of the 2002 IEEE International Conference on Robotics and Automation","author":"Kajita, S."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470200437X"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1016\/S0957-4158(03)00028-X"},{"key":"atypb15","first-page":"3353","volume-title":"Proceedings of the 2000 IEEE International Conference on Robotics and Automation","author":"Park, J."},{"key":"atypb16","first-page":"960","volume-title":"Proceedings of IEEE Conference on Systems, Man and Cybernetics (SMC\u201999)","author":"Park, J."},{"key":"atypb17","first-page":"3528","volume-title":"Proceedingsofthe1998IEEEInternational Conference on Robotics and Automation","author":"Park, J."},{"key":"atypb18","unstructured":"Pratt, J. 2000.\n                      Exploiting Inherent Robustness and Natural Dynamics in                     the Control of Bipedal Walking Robots\n                      . PhD thesis, Massachusetts Institute                 of Technology."},{"key":"atypb19","unstructured":"Schulte, H. F. 1961. The characteristics of the McKibben artificial muscle. The                     Application of External Power in Prosthetics and Orthotics, Publication                 874,                      Lake Arrowhead: National Academy of                         Sciences-National Research Council                 , pp. 94-115."},{"key":"atypb20","first-page":"83","volume-title":"Proceedings 8th International Conference on Advanced Robotics","author":"Shih, C.-L."},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1109\/21.156585"},{"key":"atypb22","first-page":"1404","volume-title":"Proceedings of the 2002 IEEE International Conference on Robotics and Automation","author":"Sugihara, T."},{"key":"atypb23","first-page":"195","volume-title":"Proceedings of the 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines","author":"Van Ham, R."},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1080\/14399776.2005.10781211"},{"key":"atypb25","unstructured":"Vermeulen, L. 2004.\n                      Trajectory Generation for Planar Hopping andWalking                     Robots: An Objective Parameter and Angular Momentum Approach\n                      . PhD thesis,                 Vrije Universiteit Brussel, Belgium."},{"key":"atypb26","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574702004551"},{"key":"atypb27","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-005-0726-x"},{"key":"atypb28","first-page":"211","volume-title":"Proceedings of the 5th International Conference on Climbing and Walking Robots (CLAWAR)","author":"Verrelst, B."},{"key":"atypb29","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574704000669"},{"key":"atypb30","author":"Verrelst, B.","year":"2005","journal-title":"International Journal of Humanoid robotics (in press)"},{"key":"atypb31","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"atypb32","doi-asserted-by":"publisher","DOI":"10.1016\/0966-6362(96)82849-9"},{"key":"atypb33","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620020307"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906069343","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906069343","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:51Z","timestamp":1777457751000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364906069343"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2006,9]]},"references-count":33,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2006,9]]}},"alternative-id":["10.1177\/0278364906069343"],"URL":"https:\/\/doi.org\/10.1177\/0278364906069343","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2006,9]]}}}