Development of a biped walking robot having antagonistic driven joints using nonlinear spring mechanism

Jin'ichi Yamaguchi, Atsuo Takanishi

Research output: Contribution to journalConference article

28 Citations (Scopus)

Abstract

Biped walking robots are studied from two viewpoints: as a human science and towards the development of humanoid robots. An anthropomorphic biped walking robot was designed and built having antagonistic driven joints. The design of this robot was introduced and some walking experiments were performed. Quasi-dynamic biped walking using antagonist driven joint is realized with a walking speed of 7.68 s/step and a 0.1 m step length.

Original languageEnglish
Pages (from-to)185-192
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 1997 Jan 1
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: 1997 Apr 201997 Apr 25

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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