Design of biped walking robots having antagonistic driven joints using nonlinear spring mechanism

J. Yamaguchi, Atsuo Takanishi

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

    30 Citations (Scopus)

    Abstract

    The authors are engaged in studies of biped walking robots from the following two viewpoints. One is a viewpoint as a human science. The other is a viewpoint towards the development of humanoid robots. In the current research concerning a biped walking robot, there is no developed example of a life-size biped walking robot with the antagonistically driven joints by which the human musculo-skeletal system is imitated in lower limbs. Humans are considered to exhibit walking behavior, both efficient and capable of flexibly coping with contact with the outside environment. However, developed biped walking robots can not realize the human walking. Humans can vary the joint stiffness, using nonlinear spring characteristics possessed by the muscle themselves. The function is an indispensable function for a bipedal humanoid. Therefore, the authors designed and built a biped walking robot and a bipedal humanoid having antagonistic driven joints. In this paper, the authors introduce the design method of the biped walking robot. The authors performed walking experiments with the biped walking robot and the bipedal humanoid. As a result, quasi-dynamic biped walking, dynamic walking, dynamic dancing with dance music and carry with dynamic walking using antagonist driven joint were realized.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages251-259
    Number of pages9
    Volume1
    Publication statusPublished - 1997
    EventProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3) - Grenoble, Fr
    Duration: 1997 Sep 71997 Sep 11

    Other

    OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3)
    CityGrenoble, Fr
    Period97/9/797/9/11

    Fingerprint

    Robots
    Musculoskeletal system
    Muscle
    Stiffness
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Yamaguchi, J., & Takanishi, A. (1997). Design of biped walking robots having antagonistic driven joints using nonlinear spring mechanism. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 251-259). Piscataway, NJ, United States: IEEE.

    Design of biped walking robots having antagonistic driven joints using nonlinear spring mechanism. / Yamaguchi, J.; Takanishi, Atsuo.

    IEEE International Conference on Intelligent Robots and Systems. Vol. 1 Piscataway, NJ, United States : IEEE, 1997. p. 251-259.

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

    Yamaguchi, J & Takanishi, A 1997, Design of biped walking robots having antagonistic driven joints using nonlinear spring mechanism. in IEEE International Conference on Intelligent Robots and Systems. vol. 1, IEEE, Piscataway, NJ, United States, pp. 251-259, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3), Grenoble, Fr, 97/9/7.
    Yamaguchi J, Takanishi A. Design of biped walking robots having antagonistic driven joints using nonlinear spring mechanism. In IEEE International Conference on Intelligent Robots and Systems. Vol. 1. Piscataway, NJ, United States: IEEE. 1997. p. 251-259
    Yamaguchi, J. ; Takanishi, Atsuo. / Design of biped walking robots having antagonistic driven joints using nonlinear spring mechanism. IEEE International Conference on Intelligent Robots and Systems. Vol. 1 Piscataway, NJ, United States : IEEE, 1997. pp. 251-259
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