Control to realize human-like walking of a biped humanoid robot

Hun ok Lim, Yousuke Yamamoto, Atsuo Takanishi

Research output: Contribution to journalConference article

20 Citations (Scopus)

Abstract

This paper describes a balance control of biped locomotion systems. A biped humanoid robot is modeled and studied focusing on the realization of human-like walking. Firstly, the smooth motion of its lower-limbs is characterized in terms of a set of walking variables. Secondly, to cancel moments produced by the motion of the lower-limbs, the motion of its trunk and waist is derived by an iteration method. Finally, a program control using a preset walking motion is applied to the biped robot. To confirm of human-like walking, we have constructed a human-like biped robot called WABIAN-RII (WAseda BIped humANoid robot-Revised II) that has a total of forty-three mechanical degrees of freedom (DOF). Experiments of a human-follow walking are conducted using the WABIAN-RII.

Original languageEnglish
Pages (from-to)3271-3276
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume5
Publication statusPublished - 2000 Dec 1
Event2000 IEEE International Conference on Systems, Man and Cybernetics - Nashville, TN, USA
Duration: 2000 Oct 82000 Oct 11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

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