The whole body cooperative motion of a bipedal humanoid robot was studied, based on which a walking control method was developed. Along with a 49-degree-of-freedom (DOF) machine model `WABIAN-R', the control method was developed presupposing various whole body motions for a bipedal humanoid robot. The humanoid robot has a total of 41 DOF. Biped walking adapting to an unknown uneven surface, the foot mechanism are installed to detect and compensate for modeling deviation. as for the control system, 19 AC servo motors and 16 DC servo motors are centrally controlled through I/O boards by the control computer. The only external connection is the power supply.
|Number of pages||3|
|Publication status||Published - 1999|
ASJC Scopus subject areas
- Control and Systems Engineering