Dynamic locomotion and mechanism of biped walking robot

Hun Ok Lim, Yu Ogura, Atsuo Takanishi

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

    2 Citations (Scopus)

    Abstract

    The walking biped robot (WABIAN-2LL) can imitate human motions such as knee-stretching locomotions and deep bending motions because it is designed with large movable ranges as a human. It has two seven degrees of freedom (DOF) legs and a two DOF waist. Each leg consists of a three DOF ankle, a one DOF knee and a three DOF hip to deal with human walking motion. Its height is about 1.2[m], and its weight is 40[kg]. Also, how to make a knee-stretched walk pattern is proposed. During the walking, moments generated by the motion of the legs should be cancelled. So, a compensatory motion control algorithm is used which is based on the waist motion. Through dynamic walking experiments, the effectiveness of the biped robot is confirmed

    Original languageEnglish
    Title of host publication2006 SICE-ICASE International Joint Conference
    Pages3484-3489
    Number of pages6
    DOIs
    Publication statusPublished - 2006
    Event2006 SICE-ICASE International Joint Conference - Busan
    Duration: 2006 Oct 182006 Oct 21

    Other

    Other2006 SICE-ICASE International Joint Conference
    CityBusan
    Period06/10/1806/10/21

    Fingerprint

    Robots
    Motion control
    Stretching
    Experiments

    ASJC Scopus subject areas

    • Computer Science Applications
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

    Cite this

    Lim, H. O., Ogura, Y., & Takanishi, A. (2006). Dynamic locomotion and mechanism of biped walking robot. In 2006 SICE-ICASE International Joint Conference (pp. 3484-3489). [4108364] https://doi.org/10.1109/SICE.2006.314618

    Dynamic locomotion and mechanism of biped walking robot. / Lim, Hun Ok; Ogura, Yu; Takanishi, Atsuo.

    2006 SICE-ICASE International Joint Conference. 2006. p. 3484-3489 4108364.

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

    Lim, HO, Ogura, Y & Takanishi, A 2006, Dynamic locomotion and mechanism of biped walking robot. in 2006 SICE-ICASE International Joint Conference., 4108364, pp. 3484-3489, 2006 SICE-ICASE International Joint Conference, Busan, 06/10/18. https://doi.org/10.1109/SICE.2006.314618
    Lim HO, Ogura Y, Takanishi A. Dynamic locomotion and mechanism of biped walking robot. In 2006 SICE-ICASE International Joint Conference. 2006. p. 3484-3489. 4108364 https://doi.org/10.1109/SICE.2006.314618
    Lim, Hun Ok ; Ogura, Yu ; Takanishi, Atsuo. / Dynamic locomotion and mechanism of biped walking robot. 2006 SICE-ICASE International Joint Conference. 2006. pp. 3484-3489
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