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

61 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 - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2022-2029
Number of pages8
ISBN (Print)078034300X
DOIs
Publication statusPublished - 1998 Jan 1
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 1998 May 161998 May 20

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period98/5/1698/5/20

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Keywords

  • Cats
  • Elasticity
  • Hardware
  • Humanoid robots
  • Humans
  • Legged locomotion
  • Mechanical engineering
  • Muscles
  • Potential energy
  • Springs

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Yamaguchi, J., Nishino, D., & Takanishi, A. (1998). Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 2022-2029). [680612] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 3). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.680612