Development of a biped walking robot compensating for three-axis moment by trunk motion

Jin ichi Yamaguchi, Atsuo Takanishi, Ichiro Kato

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

    131 Citations (Scopus)

    Abstract

    The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot which has a trunk. In this paper, the authors introduce a control method of dynamic biped walking for a biped walking robot to compensate for the three-axis (pitch, roll and yaw-axis) moment on an arbitrary planned ZMP by trunk motion. The authors developed a biped walking robot and performed a walking experiment with the robot using the control method. The result was a fast dynamic biped walking at the walking speed of 0.54 s/step with a 0.3 m step on a flat floor. This walking speed is about 50 percent faster than that with the robot which compensates for only the two-axis (pitch and roll-axis) moment by trunk motion.

    Original languageEnglish
    Title of host publication1993 International Conference on Intelligent Robots and Systems
    Editors Anon
    Place of PublicationPiscataway, NJ, United States
    PublisherPubl by IEEE
    Pages561-566
    Number of pages6
    ISBN (Print)0780308239
    Publication statusPublished - 1993
    EventProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
    Duration: 1993 Jul 261993 Jul 30

    Other

    OtherProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
    CityYokohama, Jpn
    Period93/7/2693/7/30

    Fingerprint

    Robots
    Experiments

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Yamaguchi, J. I., Takanishi, A., & Kato, I. (1993). Development of a biped walking robot compensating for three-axis moment by trunk motion. In Anon (Ed.), 1993 International Conference on Intelligent Robots and Systems (pp. 561-566). Piscataway, NJ, United States: Publ by IEEE.

    Development of a biped walking robot compensating for three-axis moment by trunk motion. / Yamaguchi, Jin ichi; Takanishi, Atsuo; Kato, Ichiro.

    1993 International Conference on Intelligent Robots and Systems. ed. / Anon. Piscataway, NJ, United States : Publ by IEEE, 1993. p. 561-566.

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

    Yamaguchi, JI, Takanishi, A & Kato, I 1993, Development of a biped walking robot compensating for three-axis moment by trunk motion. in Anon (ed.), 1993 International Conference on Intelligent Robots and Systems. Publ by IEEE, Piscataway, NJ, United States, pp. 561-566, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Jpn, 93/7/26.
    Yamaguchi JI, Takanishi A, Kato I. Development of a biped walking robot compensating for three-axis moment by trunk motion. In Anon, editor, 1993 International Conference on Intelligent Robots and Systems. Piscataway, NJ, United States: Publ by IEEE. 1993. p. 561-566
    Yamaguchi, Jin ichi ; Takanishi, Atsuo ; Kato, Ichiro. / Development of a biped walking robot compensating for three-axis moment by trunk motion. 1993 International Conference on Intelligent Robots and Systems. editor / Anon. Piscataway, NJ, United States : Publ by IEEE, 1993. pp. 561-566
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