Learning of robot biped walking with the cooperation of a human

Qinghua Li, Atsuo Takanishi, I. Kato

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

4 Citations (Scopus)

Abstract

In this paper, the authors devise a method that a biped walking robot realizes a learning process of walking stabilization with the cooperation of a human, by considering the learning process of a baby. The authors developed a biped walking robot which has a trunk. They have equipped the robot with a system for measuring the zero moment point (ZMP) of the robot by using universal force-moment sensors and with a mechanical interface for the cooperation. The authors did walking experiments with the biped walking robot, in which a human directly taught the robot the desired ZMP which makes the walking be stable, and the robot learned to stabilize its walking with the cooperation of the human. As a result, the robot obtained the given desired stability by modifying its trunk motion and it achieved stable walking by itself through the process of several learning trials. This kind of function is integral to an anthropomorphic robot, which the authors call a Humanoid, being a human's partner in the future.

Original languageEnglish
Title of host publicationProceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages393-397
Number of pages5
ISBN (Electronic)0780314077, 9780780314078
DOIs
Publication statusPublished - 1993 Jan 1
Event2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993 - Tokyo, Japan
Duration: 1993 Nov 31993 Nov 5

Publication series

NameProceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993

Conference

Conference2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
CountryJapan
CityTokyo
Period93/11/393/11/5

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Communication

Cite this

Li, Q., Takanishi, A., & Kato, I. (1993). Learning of robot biped walking with the cooperation of a human. In Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993 (pp. 393-397). [367686] (Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROMAN.1993.367686