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

Jin'ichi Yamaguchi, Atsuo Takanishi

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

    27 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
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    PublisherIEEE
    Pages185-192
    Number of pages8
    Volume1
    Publication statusPublished - 1997
    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

    Other

    OtherProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4)
    CityAlbuquerque, NM, USA
    Period97/4/2097/4/25

    Fingerprint

    Robots
    Experiments

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Yamaguchi, J., & Takanishi, A. (1997). Development of a biped walking robot having antagonistic driven joints using nonlinear spring mechanism. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 185-192). IEEE.

    Development of a biped walking robot having antagonistic driven joints using nonlinear spring mechanism. / Yamaguchi, Jin'ichi; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 IEEE, 1997. p. 185-192.

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

    Yamaguchi, J & Takanishi, A 1997, Development of a biped walking robot having antagonistic driven joints using nonlinear spring mechanism. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, IEEE, pp. 185-192, Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4), Albuquerque, NM, USA, 97/4/20.
    Yamaguchi J, Takanishi A. Development of a biped walking robot having antagonistic driven joints using nonlinear spring mechanism. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1. IEEE. 1997. p. 185-192
    Yamaguchi, Jin'ichi ; Takanishi, Atsuo. / Development of a biped walking robot having antagonistic driven joints using nonlinear spring mechanism. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 IEEE, 1997. pp. 185-192
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