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

133 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
PublisherPubl by IEEE
Pages561-566
Number of pages6
ISBN (Print)0780308239
Publication statusPublished - 1993 Dec 1
EventProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
Duration: 1993 Jul 261993 Jul 30

Publication series

Name1993 International Conference on Intelligent Robots and Systems

Other

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

ASJC Scopus subject areas

  • Engineering(all)

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  • 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). (1993 International Conference on Intelligent Robots and Systems). Publ by IEEE.