Abstract
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 language | English |
|---|---|
| Article number | 637905 |
| Pages (from-to) | 187-192 |
| Number of pages | 6 |
| Journal | IEEE International Conference on Intelligent Robots and Systems |
| Volume | 1989-September |
| DOIs | |
| Publication status | Published - 1989 Jan 1 |
| Event | 1989 IEEE/RSJ International Workshop on Intelligent Robots and Systems, IROS 1989 - Tsukuba, Japan Duration: 1989 Sept 4 → 1989 Sept 6 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications