Realization of continuous biped walking

Hun Ok Lim, Atsuo Takanishi

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

    5 Citations (Scopus)

    Abstract

    This study is aimed at the realization of a continuous walking-pattern generated by combining some different patterns such as turning, forward, backward and side step patterns. A biped-walking robot is required to have the function of followability and stability to achieve continuous follow walking in a human's living environment. Unit patterns for a biped locomotion are continuously generated by a walking pattern generator, and the complete walking pattern for followability is determined by synthesizing the unit patterns. The compensatory motion of the trunk and waist that is calculated by a stabilization control method ensures the stability of combined walking patterns. To explore human-like walking, we have constructed a two-legged robot, WABIAN-RII (WAseda BIpedal humANoid robot-Revised II). Through hardware experiments, the continuous biped walking is realized.

    Original languageEnglish
    Title of host publicationProceedings of the IEEE International Conference on Systems, Man and Cybernetics
    Pages1630-1635
    Number of pages6
    Volume3
    Publication statusPublished - 2001
    Event2001 IEEE International Conference on Systems, Man and Cybernetics - Tucson, AZ, United States
    Duration: 2001 Oct 72001 Oct 10

    Other

    Other2001 IEEE International Conference on Systems, Man and Cybernetics
    CountryUnited States
    CityTucson, AZ
    Period01/10/701/10/10

      Fingerprint

    ASJC Scopus subject areas

    • Hardware and Architecture
    • Control and Systems Engineering

    Cite this

    Lim, H. O., & Takanishi, A. (2001). Realization of continuous biped walking. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (Vol. 3, pp. 1630-1635)