Locomotion pattern generation and mechanisms of a new biped walking machine

Hun Ok Lim, Y. Ogura, Atsuo Takanishi

    Research output: Contribution to journalArticle

    8 Citations (Scopus)

    Abstract

    This paper describes the mechanism of a 16 d.f. biped walking machine, Waseda biped humanoid robot-2 lower limb (WABIAN-2LL), which has two 7 d.f. legs and a 2 d.f. waist actuated by DC servo motors with reduction gears. WABIAN-2LL is designed with large movable angle ranges like those of a human. Its height and weight are 1200mm and 40kg, respectively. It is able to walk with its knees stretched using the redundancy of the legs and to move around an object using a hip-bending motion without touching the object. A knee-stretched locomotion pattern generation is also proposed in this paper, which separately creates joint angles in a supporting and a swinging phase. During knee-stretched walking, the joint rate of the knee will approach infinitely when the knee is stretched. This singularity problem is solved by using the motion of the waist, not the posture of the trunk. The effectiveness of the mechanisms and pattern generations of WABIAN-2LL is verified through dynamic walking experiments.

    Original languageEnglish
    Pages (from-to)273-288
    Number of pages16
    JournalProceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences
    Volume464
    Issue number2089
    DOIs
    Publication statusPublished - 2008 Jan 8

    Fingerprint

    walking machines
    Biped Robot
    Humanoid Robot
    locomotion
    Locomotion
    limbs
    robots
    walking
    Robots
    posture
    Angle
    Motion
    redundancy
    Walk
    Redundancy
    Gears
    direct current
    Singularity
    Range of data
    Experiment

    Keywords

    • Biped walking machine
    • Compensatory motion
    • Humanoid robot
    • Knee-stretched motion
    • Locomotion pattern

    ASJC Scopus subject areas

    • General

    Cite this

    Locomotion pattern generation and mechanisms of a new biped walking machine. / Lim, Hun Ok; Ogura, Y.; Takanishi, Atsuo.

    In: Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, Vol. 464, No. 2089, 08.01.2008, p. 273-288.

    Research output: Contribution to journalArticle

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