Dynamic biped walking stabilized with optimal trunk and waist motion

A. Takanishi, M. Tochizawa, H. Karaki, I. Kato

Research output: Contribution to journalConference article

62 Citations (Scopus)


In this piper, the authors introduce a oontrol methOO for dynamic biped walking stabilized with trunk ani waist llDtion. The main algorithm of this methOO is l:ased en cxmputing optimal time trajectories of the trunk and waist by arbitrarily giving trajectories of the foot ani the ZMP( Zero l'bnent Point) [ 1 ] , ani an external force pittern before the robot begins walking. To detennine the optimal time trajectories of the trunk and waist, the authors used a performance index including the relative position of the trunk arrl the waist multiplied by weight coefficients. In 1987, a biped walking robot WL-12R (Waseda Ieg - 12 Refined) realized various gaits wrler rectangular external force in dynamic cxmplete walking stabilized with trunk ani waist !lDtion on a flat floor. The maximum force strength during these experiments was 10[kgf]. The time spent walking was 2.6[s/step] and the maximum step length was 0.3[m].

Original languageEnglish
Article number637905
Pages (from-to)187-192
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
Publication statusPublished - 1989 Jan 1
Event1989 IEEE/RSJ International Workshop on Intelligent Robots and Systems, IROS 1989 - Tsukuba, Japan
Duration: 1989 Sep 41989 Sep 6


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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