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

Hun ok Lim, Yousuke Yamamoto, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    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
    Title of host publicationProceedings of the IEEE International Conference on Systems, Man and Cybernetics
    PublisherIEEE
    Pages3271-3276
    Number of pages6
    Volume5
    Publication statusPublished - 2000
    Event2000 IEEE International Conference on Systems, Man and Cybernetics - Nashville, TN, USA
    Duration: 2000 Oct 82000 Oct 11

    Other

    Other2000 IEEE International Conference on Systems, Man and Cybernetics
    CityNashville, TN, USA
    Period00/10/800/10/11

    Fingerprint

    Robots
    Biped locomotion
    Experiments

    ASJC Scopus subject areas

    • Hardware and Architecture
    • Control and Systems Engineering

    Cite this

    Lim, H. O., Yamamoto, Y., & Takanishi, A. (2000). Control to realize human-like walking of a biped humanoid robot. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (Vol. 5, pp. 3271-3276). IEEE.

    Control to realize human-like walking of a biped humanoid robot. / Lim, Hun ok; Yamamoto, Yousuke; Takanishi, Atsuo.

    Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 5 IEEE, 2000. p. 3271-3276.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Lim, HO, Yamamoto, Y & Takanishi, A 2000, Control to realize human-like walking of a biped humanoid robot. in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. vol. 5, IEEE, pp. 3271-3276, 2000 IEEE International Conference on Systems, Man and Cybernetics, Nashville, TN, USA, 00/10/8.
    Lim HO, Yamamoto Y, Takanishi A. Control to realize human-like walking of a biped humanoid robot. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 5. IEEE. 2000. p. 3271-3276
    Lim, Hun ok ; Yamamoto, Yousuke ; Takanishi, Atsuo. / Control to realize human-like walking of a biped humanoid robot. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 5 IEEE, 2000. pp. 3271-3276
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