Development of a dynamic biped walking system for humanoid - development of a biped walking robot adapting to the humans' living floor

Jin'ichi Yamaguchi, Noboru Kinoshita, Atsuo Takanishi, Ichiro Kato

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

    61 Citations (Scopus)

    Abstract

    In this paper, the authors introduce an anthropomorphic dynamic biped walking robot adapting to the humans' living floor. The robot has two remarkable systems: (1) a special foot system to obtain the position relative to a landing surface and the gradient of the surface during its dynamic walking; (2) an adaptive walking control system to adapt to the path surfaces with unknown shapes by utilizing the information of landing surface, obtained by the foot system. Two units of the foot system WAF-3 were produced, a biped walking robot WL-12RVII that had the foot system and the adaptive walking control system installed inside it was developed, and a walking experiment with WL-12RVII was performed. As a result, dynamic biped walking adapting to humans' living floor with unknown shape was realized. The maximum walking speed was 1.28s/step with a 0.3 m step length, and the adaptable deviation range was from -16 to +16 mm/step in the vertical direction, and from -3 to +3° in the tilt angle.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    PublisherIEEE
    Pages232-239
    Number of pages8
    Volume1
    Publication statusPublished - 1996
    EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
    Duration: 1996 Apr 221996 Apr 28

    Other

    OtherProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4)
    CityMinneapolis, MN, USA
    Period96/4/2296/4/28

    Fingerprint

    Robots
    Landing
    Control systems
    Experiments

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Yamaguchi, J., Kinoshita, N., Takanishi, A., & Kato, I. (1996). Development of a dynamic biped walking system for humanoid - development of a biped walking robot adapting to the humans' living floor. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 232-239). IEEE.

    Development of a dynamic biped walking system for humanoid - development of a biped walking robot adapting to the humans' living floor. / Yamaguchi, Jin'ichi; Kinoshita, Noboru; Takanishi, Atsuo; Kato, Ichiro.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 IEEE, 1996. p. 232-239.

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

    Yamaguchi, J, Kinoshita, N, Takanishi, A & Kato, I 1996, Development of a dynamic biped walking system for humanoid - development of a biped walking robot adapting to the humans' living floor. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, IEEE, pp. 232-239, Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4), Minneapolis, MN, USA, 96/4/22.
    Yamaguchi J, Kinoshita N, Takanishi A, Kato I. Development of a dynamic biped walking system for humanoid - development of a biped walking robot adapting to the humans' living floor. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1. IEEE. 1996. p. 232-239
    Yamaguchi, Jin'ichi ; Kinoshita, Noboru ; Takanishi, Atsuo ; Kato, Ichiro. / Development of a dynamic biped walking system for humanoid - development of a biped walking robot adapting to the humans' living floor. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 IEEE, 1996. pp. 232-239
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