Biped walking robots created at Waseda University

WL and WABIAN family

Hun Ok Lim, Atsuo Takanishi

    Research output: Contribution to journalArticle

    51 Citations (Scopus)

    Abstract

    This paper proposes the mechanism and control of the biped humanoid robots WABIAN-RIV and WL-16. WABIAN-RIV has 43 mechanical degrees of freedom (d.f.): 6 d.f. in each leg, 7 d.f. in each arm, 3 d.f. in each hand, 2 d.f. in each eye, 4 d.f. in the neck and 3 d.f. in the waist. Its height is about 1.89 m and its total weight is 127 kg. It has a vision system and a voice recognition system to mimic some of the capabilities of the human senses. WL-16 consists of a pelvis and two legs having six 1 d.f. active linear actuators. An aluminium chair is mounted on two sets of its telescopic poles. To reduce the large support forces during the support phase, a support torque reduction mechanism is developed, which is composed of two compression gas springs with different stiffness. For the stability of the robots, a compensatory motion control algorithm is developed. This control compensates for moments generated by the motion of the lower limbs, using the motion of the trunk and the waist that is obtained by the zero moment point concept and fast Fourier transform. WABIAN-RIV is able to walk forwards, backwards and sideways, dance, carry heavy goods and express emotion, etc. WL-16 can move forwards, backwards and sideways while carrying an adult weighing up to 60 kg.

    Original languageEnglish
    Pages (from-to)49-64
    Number of pages16
    JournalPhilosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences
    Volume365
    Issue number1850
    DOIs
    Publication statusPublished - 2007 Jan 15

    Fingerprint

    Biped Robot
    walking
    robots
    degrees of freedom
    Degree of freedom
    Robots
    Linear actuators
    Weighing
    Motion control
    Speech recognition
    Fast Fourier transforms
    Poles
    Compaction
    Torque
    Stiffness
    Aluminum
    Gases
    emotions
    Moment
    moments

    Keywords

    • Biped walking robot
    • Parallel mechanism
    • Stability
    • Walking pattern
    • Zero moment point compensatory motion

    ASJC Scopus subject areas

    • General

    Cite this

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    abstract = "This paper proposes the mechanism and control of the biped humanoid robots WABIAN-RIV and WL-16. WABIAN-RIV has 43 mechanical degrees of freedom (d.f.): 6 d.f. in each leg, 7 d.f. in each arm, 3 d.f. in each hand, 2 d.f. in each eye, 4 d.f. in the neck and 3 d.f. in the waist. Its height is about 1.89 m and its total weight is 127 kg. It has a vision system and a voice recognition system to mimic some of the capabilities of the human senses. WL-16 consists of a pelvis and two legs having six 1 d.f. active linear actuators. An aluminium chair is mounted on two sets of its telescopic poles. To reduce the large support forces during the support phase, a support torque reduction mechanism is developed, which is composed of two compression gas springs with different stiffness. For the stability of the robots, a compensatory motion control algorithm is developed. This control compensates for moments generated by the motion of the lower limbs, using the motion of the trunk and the waist that is obtained by the zero moment point concept and fast Fourier transform. WABIAN-RIV is able to walk forwards, backwards and sideways, dance, carry heavy goods and express emotion, etc. WL-16 can move forwards, backwards and sideways while carrying an adult weighing up to 60 kg.",
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    N2 - This paper proposes the mechanism and control of the biped humanoid robots WABIAN-RIV and WL-16. WABIAN-RIV has 43 mechanical degrees of freedom (d.f.): 6 d.f. in each leg, 7 d.f. in each arm, 3 d.f. in each hand, 2 d.f. in each eye, 4 d.f. in the neck and 3 d.f. in the waist. Its height is about 1.89 m and its total weight is 127 kg. It has a vision system and a voice recognition system to mimic some of the capabilities of the human senses. WL-16 consists of a pelvis and two legs having six 1 d.f. active linear actuators. An aluminium chair is mounted on two sets of its telescopic poles. To reduce the large support forces during the support phase, a support torque reduction mechanism is developed, which is composed of two compression gas springs with different stiffness. For the stability of the robots, a compensatory motion control algorithm is developed. This control compensates for moments generated by the motion of the lower limbs, using the motion of the trunk and the waist that is obtained by the zero moment point concept and fast Fourier transform. WABIAN-RIV is able to walk forwards, backwards and sideways, dance, carry heavy goods and express emotion, etc. WL-16 can move forwards, backwards and sideways while carrying an adult weighing up to 60 kg.

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