Quasi-human biped walking

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

    Research output: Contribution to journalArticle

    6 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 languageEnglish
    Pages (from-to)257-268
    Number of pages12
    JournalRobotica
    Volume24
    Issue number2
    DOIs
    Publication statusPublished - 2006 Mar

    Fingerprint

    Biped Robot
    Robots
    Stamping
    Motion control
    Humanoid Robot
    Motion Control
    Continuous Time
    Degree of freedom
    Moment
    Motion
    Human
    Experiments
    Experiment

    Keywords

    • Compensatory motion
    • Human-follow walking
    • Interaction
    • Pattern synthesis
    • Walking pattern

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Lim, H. O., Hyon, S. H., Setiawan, S. A., & Takanishi, A. (2006). Quasi-human biped walking. Robotica, 24(2), 257-268. https://doi.org/10.1017/S0263574705002109

    Quasi-human biped walking. / Lim, Hun Ok; Hyon, Sang Ho; Setiawan, Samuel A.; Takanishi, Atsuo.

    In: Robotica, Vol. 24, No. 2, 03.2006, p. 257-268.

    Research output: Contribution to journalArticle

    Lim, HO, Hyon, SH, Setiawan, SA & Takanishi, A 2006, 'Quasi-human biped walking', Robotica, vol. 24, no. 2, pp. 257-268. https://doi.org/10.1017/S0263574705002109
    Lim HO, Hyon SH, Setiawan SA, Takanishi A. Quasi-human biped walking. Robotica. 2006 Mar;24(2):257-268. https://doi.org/10.1017/S0263574705002109
    Lim, Hun Ok ; Hyon, Sang Ho ; Setiawan, Samuel A. ; Takanishi, Atsuo. / Quasi-human biped walking. In: Robotica. 2006 ; Vol. 24, No. 2. pp. 257-268.
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