Quasi-human biped walking

Hun Ok Lim; Sang Ho Hyon; Samuel A. Setiawan; Atsuo Takanishi

doi:10.1017/S0263574705002109

Quasi-human biped walking

Hun Ok Lim^*, Sang Ho Hyon, Samuel A. Setiawan, Atsuo Takanishi

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Contribution to journal › Article › peer-review

9 Citations (Scopus)

Abstract

Our goal is to develop biped humanoid robots capable of working stably in a human living and working space, with a focus on their physical construction and motion control. At the first stage, we have developed a human-like biped robot, WABIAN (WAseda BIped humANoid), which has a thirty-five mechanical degrees of freedom. Its height is 1.66 [m] and its weight 107.4 [kg]. In this paper, a moment compensation method is described for stability, which is based on the motion of its head, legs and arms. Also, a follow walking method is proposed which is based on a pattern switching technique. By a combination of both methods, the biped robot is able to perform dynamic stamping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. Using WABIAN, human-fellow walking experiments are conducted, and the effectiveness of the methods are verified.

Original language	English
Pages (from-to)	257-268
Number of pages	12
Journal	Robotica
Volume	24
Issue number	2
DOIs	https://doi.org/10.1017/S0263574705002109
Publication status	Published - 2006 Mar 1

Keywords

Compensatory motion
Human-follow walking
Interaction
Pattern synthesis
Walking pattern

ASJC Scopus subject areas

Software
Control and Systems Engineering
Mathematics(all)
Computer Science Applications

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Cite this

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title = "Quasi-human biped walking",

abstract = "Our goal is to develop biped humanoid robots capable of working stably in a human living and working space, with a focus on their physical construction and motion control. At the first stage, we have developed a human-like biped robot, WABIAN (WAseda BIped humANoid), which has a thirty-five mechanical degrees of freedom. Its height is 1.66 [m] and its weight 107.4 [kg]. In this paper, a moment compensation method is described for stability, which is based on the motion of its head, legs and arms. Also, a follow walking method is proposed which is based on a pattern switching technique. By a combination of both methods, the biped robot is able to perform dynamic stamping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. Using WABIAN, human-fellow walking experiments are conducted, and the effectiveness of the methods are verified.",

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AU - Lim, Hun Ok

AU - Hyon, Sang Ho

AU - Setiawan, Samuel A.

AU - Takanishi, Atsuo

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Y1 - 2006/3/1

N2 - Our goal is to develop biped humanoid robots capable of working stably in a human living and working space, with a focus on their physical construction and motion control. At the first stage, we have developed a human-like biped robot, WABIAN (WAseda BIped humANoid), which has a thirty-five mechanical degrees of freedom. Its height is 1.66 [m] and its weight 107.4 [kg]. In this paper, a moment compensation method is described for stability, which is based on the motion of its head, legs and arms. Also, a follow walking method is proposed which is based on a pattern switching technique. By a combination of both methods, the biped robot is able to perform dynamic stamping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. Using WABIAN, human-fellow walking experiments are conducted, and the effectiveness of the methods are verified.

AB - Our goal is to develop biped humanoid robots capable of working stably in a human living and working space, with a focus on their physical construction and motion control. At the first stage, we have developed a human-like biped robot, WABIAN (WAseda BIped humANoid), which has a thirty-five mechanical degrees of freedom. Its height is 1.66 [m] and its weight 107.4 [kg]. In this paper, a moment compensation method is described for stability, which is based on the motion of its head, legs and arms. Also, a follow walking method is proposed which is based on a pattern switching technique. By a combination of both methods, the biped robot is able to perform dynamic stamping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. Using WABIAN, human-fellow walking experiments are conducted, and the effectiveness of the methods are verified.

KW - Compensatory motion

KW - Human-follow walking

KW - Interaction

KW - Pattern synthesis

KW - Walking pattern

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Quasi-human biped walking

Abstract

Keywords

ASJC Scopus subject areas

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