Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints

Jin'ichi Yamaguchi, Daisuke Nishino, Atsuo Takanishi

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

    59 Citations (Scopus)

    Abstract

    In this paper, the authors introduce a life-size biped walking robot having antagonistic driven joints using a nonlinear spring mechanism and a dynamic biped walking control method using these joints. In the current research concerning a biped walking robot, there is no developed example of a life-size biped walking robot with antagonistically driven joints by which the human musculo-skeletal system is imitated in lower limbs. Humans are considered to walk efficiently using the inertial energy and the potential energy of the lower limbs effectively, walk smoothly with less impact force when a foot lands and cope flexibly with the outside environment. The Human joint is driven by two or more muscle groups. Humans can vary the joint stiffness, using nonlinear spring characteristics possessed by the muscles themselves. These functions are indispensable for a humanoid However, the biped walking robots developed previously have been unable to walk in this way. Therefore, the authors developed a biped walking robot having antagonistic driven joints, and proposed a walking control method for dynamic biped walking that uses antagonistic driven joints to vary joint stiffness. The authors performed walking experiments using the biped walking robot and the control method. As a result, dynamic biped walking varying the joint stiffness using antagonistic driven joints was realized.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Editors Anon
    PublisherIEEE
    Pages2022-2029
    Number of pages8
    Volume3
    Publication statusPublished - 1998
    EventProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Leuven, Belgium
    Duration: 1998 May 161998 May 20

    Other

    OtherProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4)
    CityLeuven, Belgium
    Period98/5/1698/5/20

    Fingerprint

    Stiffness
    Robots
    Muscle
    Musculoskeletal system
    Potential energy
    Experiments

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Yamaguchi, J., Nishino, D., & Takanishi, A. (1998). Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints. In Anon (Ed.), Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 2022-2029). IEEE.

    Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints. / Yamaguchi, Jin'ichi; Nishino, Daisuke; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. ed. / Anon. Vol. 3 IEEE, 1998. p. 2022-2029.

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

    Yamaguchi, J, Nishino, D & Takanishi, A 1998, Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints. in Anon (ed.), Proceedings - IEEE International Conference on Robotics and Automation. vol. 3, IEEE, pp. 2022-2029, Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4), Leuven, Belgium, 98/5/16.
    Yamaguchi J, Nishino D, Takanishi A. Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints. In Anon, editor, Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3. IEEE. 1998. p. 2022-2029
    Yamaguchi, Jin'ichi ; Nishino, Daisuke ; Takanishi, Atsuo. / Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints. Proceedings - IEEE International Conference on Robotics and Automation. editor / Anon. Vol. 3 IEEE, 1998. pp. 2022-2029
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