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 | |
| Publication status | Published - 2006 Mar |
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Keywords
- Compensatory motion
- Human-follow walking
- Interaction
- Pattern synthesis
- Walking pattern
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
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 journal › Article
}
TY - JOUR
T1 - Quasi-human biped walking
AU - Lim, Hun Ok
AU - Hyon, Sang Ho
AU - Setiawan, Samuel A.
AU - Takanishi, Atsuo
PY - 2006/3
Y1 - 2006/3
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
UR - http://www.scopus.com/inward/record.url?scp=33645367272&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33645367272&partnerID=8YFLogxK
U2 - 10.1017/S0263574705002109
DO - 10.1017/S0263574705002109
M3 - Article
VL - 24
SP - 257
EP - 268
JO - Robotica
JF - Robotica
SN - 0263-5747
IS - 2
ER -