Evaluation of various walking patterns of biped humanoid robot

Yu Ogura, Teruo Kataoka, Hiroyuki Aikawa, Kazushi Shimomura, Hun Ok Lim, Atsuo Takanishi

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

    41 Citations (Scopus)

    Abstract

    This paper describes the evaluation of three different walking patterns of a biped humanoid robot. Stretch-walking patterns with straight legs for a biped robot are compared with conventional walking patterns with bent legs in terms of energy consumption. This paper discusses walking pattern generation for various walks. To confirm the walking pattern evaluation, we have developed a biped robot, WABIAN-2/LL, whose leg mechanism differs from the conventional leg mechanism that has 3 DOF (degrees of freedom) in each ankle, 1 DOF in each knee, 3 DOF in each hip, and 2 DOF in the waist. Walking experiments are conducted with WABIAN-2/LL, and the results demonstrate that stretch walking patterns are effective in terms of energy consumption.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages603-608
    Number of pages6
    Volume2005
    DOIs
    Publication statusPublished - 2005
    Event2005 IEEE International Conference on Robotics and Automation - Barcelona
    Duration: 2005 Apr 182005 Apr 22

    Other

    Other2005 IEEE International Conference on Robotics and Automation
    CityBarcelona
    Period05/4/1805/4/22

    Fingerprint

    Robots
    Energy utilization
    Experiments

    Keywords

    • Biped walking
    • Energy consumption
    • Humanoid robot
    • Various walking gait

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Ogura, Y., Kataoka, T., Aikawa, H., Shimomura, K., Lim, H. O., & Takanishi, A. (2005). Evaluation of various walking patterns of biped humanoid robot. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2005, pp. 603-608). [1570184] https://doi.org/10.1109/ROBOT.2005.1570184

    Evaluation of various walking patterns of biped humanoid robot. / Ogura, Yu; Kataoka, Teruo; Aikawa, Hiroyuki; Shimomura, Kazushi; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. p. 603-608 1570184.

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

    Ogura, Y, Kataoka, T, Aikawa, H, Shimomura, K, Lim, HO & Takanishi, A 2005, Evaluation of various walking patterns of biped humanoid robot. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2005, 1570184, pp. 603-608, 2005 IEEE International Conference on Robotics and Automation, Barcelona, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570184
    Ogura Y, Kataoka T, Aikawa H, Shimomura K, Lim HO, Takanishi A. Evaluation of various walking patterns of biped humanoid robot. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005. 2005. p. 603-608. 1570184 https://doi.org/10.1109/ROBOT.2005.1570184
    Ogura, Yu ; Kataoka, Teruo ; Aikawa, Hiroyuki ; Shimomura, Kazushi ; Lim, Hun Ok ; Takanishi, Atsuo. / Evaluation of various walking patterns of biped humanoid robot. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. pp. 603-608
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