Development of a bipedal humanoid robot - control method of whole body cooperative dynamic biped walking

Jin'ichi Yamaguchi, Eiji Soga, Sadatoshi Inoue, Atsuo Takanishi

Research output: Contribution to journalConference article

288 Citations (Scopus)

Abstract

The authors have focused on the bipedal humanoid robot expected to play an active role in human living space, through studies on an anthropomorphic biped walking robot. As the first stage of developing a bipedal humanoid robot, the authors developed the human-size 35 active DOF bipedal humanoid robot 'WABIAN' and the human-size 41 active DOF bipedal humanoid robot 'WABIAN-R'. The authors also proposed a basic control method of whole body cooperative dynamic biped walking that uses trunk or trunk-waist cooperative motion to compensate for three-axis (pitch, roll and yaw-axis) moment generated not only by the motion of the lower-limbs planned arbitrarily but by the time trajectory of the hands planned arbitrarily. Using these systems and the control method, normal biped walking (forward and backward), dynamic dance waving arms and hip, dynamic carrying of a load using it arms, and trunk-waist cooperative dynamic walking are achieved.

Original languageEnglish
Pages (from-to)368-374
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 1999 Jan 1
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: 1999 May 101999 May 15

ASJC Scopus subject areas

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

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