Development of a bipedal humanoid robot having antagonistic driven joints and three DOF trunk

Jin'ichi Yamaguchi, Sadatoshi Inoue, Daisuke Nishino, Atsuo Takanishi

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

    73 Citations (Scopus)

    Abstract

    The authors proposed the construction of a bipedal humanoid robot that has a head system with visual sensors, two hand-arm systems, 3 DOF trunk, and antagonistic driven joints using the non-linear spring mechanism, on the basis of WL-13. And we really designed and built it. In addition, as the first step to realize the dynamic cooperated motion of limbs and 3 DOF trunk, the authors developed the control algorithm and the simulation program that generates the trajectory of 3 DOF trunk for stable biped walking pattern even if the trajectories of upper and lower limbs are arbitrarily set for locomotion and manipulation respectively. Using this preset walking pattern with variable muscle tension references correspond to swing phase and stance phase, the authors performed walking experiment of dynamic walking forward and backward, dynamic dance with 3 DOF trunk motion and carrying, on a flat level surface(1.28 s/step with a O. 15 m step length). As a result, the efficiency of our walking control algorithm and robot system was proved. In this paper, the mechanism of WABIAN and its control method are introduced.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Editors Anon
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages96-101
    Number of pages6
    Volume1
    Publication statusPublished - 1998
    EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
    Duration: 1998 Oct 131998 Oct 17

    Other

    OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
    CityVictoria, Can
    Period98/10/1398/10/17

    Fingerprint

    Robots
    Trajectories
    Muscle
    Sensors
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Yamaguchi, J., Inoue, S., Nishino, D., & Takanishi, A. (1998). Development of a bipedal humanoid robot having antagonistic driven joints and three DOF trunk. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 96-101). Piscataway, NJ, United States: IEEE.

    Development of a bipedal humanoid robot having antagonistic driven joints and three DOF trunk. / Yamaguchi, Jin'ichi; Inoue, Sadatoshi; Nishino, Daisuke; Takanishi, Atsuo.

    IEEE International Conference on Intelligent Robots and Systems. ed. / Anon. Vol. 1 Piscataway, NJ, United States : IEEE, 1998. p. 96-101.

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

    Yamaguchi, J, Inoue, S, Nishino, D & Takanishi, A 1998, Development of a bipedal humanoid robot having antagonistic driven joints and three DOF trunk. in Anon (ed.), IEEE International Conference on Intelligent Robots and Systems. vol. 1, IEEE, Piscataway, NJ, United States, pp. 96-101, Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, 98/10/13.
    Yamaguchi J, Inoue S, Nishino D, Takanishi A. Development of a bipedal humanoid robot having antagonistic driven joints and three DOF trunk. In Anon, editor, IEEE International Conference on Intelligent Robots and Systems. Vol. 1. Piscataway, NJ, United States: IEEE. 1998. p. 96-101
    Yamaguchi, Jin'ichi ; Inoue, Sadatoshi ; Nishino, Daisuke ; Takanishi, Atsuo. / Development of a bipedal humanoid robot having antagonistic driven joints and three DOF trunk. IEEE International Conference on Intelligent Robots and Systems. editor / Anon. Vol. 1 Piscataway, NJ, United States : IEEE, 1998. pp. 96-101
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