REALIZATION OF DYNAMIC WALKING BY THE BIPED WALKING ROBOT WL-10RD.

Atsuo Takanishi, M. Ishida, Y. Yamazaki, I. Kato

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

    196 Citations (Scopus)

    Abstract

    The purpose of this study is to accomplish 'Dynamic Walking' by a biped walking robot WL-10RD on a disturbance-free flat floor. Generally, one walking cycle is divided into two phases, a 'Single Support Phase' and a 'Change Over Phase'. We consider that 'Dynamic Walking' is defined as walking to which 'Dynamics' is applied on 'Both Phases'. We propose a dynamic walking control method as follows: walking in the single support phase is realized by a 'Program Control' using a 'Preset Walking Pattern', and that in the change over phase is achieved by a 'Sequence Control' changing 'Preset Torque and Mechanical Impedance' according to the conditions of this phase. As a result of experiments, complete dynamic walking was realized by a walking robot WL-10RD. The walking time is about 1. 5 seconds with a 40 cm step.

    Original languageEnglish
    Title of host publicationUnknown Host Publication Title
    Place of PublicationTokyo, Jpn
    PublisherJapan Industrial Robot Assoc
    Pages459-466
    Number of pages8
    Publication statusPublished - 1985

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    Robots
    Torque
    Experiments

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Takanishi, A., Ishida, M., Yamazaki, Y., & Kato, I. (1985). REALIZATION OF DYNAMIC WALKING BY THE BIPED WALKING ROBOT WL-10RD. In Unknown Host Publication Title (pp. 459-466). Tokyo, Jpn: Japan Industrial Robot Assoc.

    REALIZATION OF DYNAMIC WALKING BY THE BIPED WALKING ROBOT WL-10RD. / Takanishi, Atsuo; Ishida, M.; Yamazaki, Y.; Kato, I.

    Unknown Host Publication Title. Tokyo, Jpn : Japan Industrial Robot Assoc, 1985. p. 459-466.

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

    Takanishi, A, Ishida, M, Yamazaki, Y & Kato, I 1985, REALIZATION OF DYNAMIC WALKING BY THE BIPED WALKING ROBOT WL-10RD. in Unknown Host Publication Title. Japan Industrial Robot Assoc, Tokyo, Jpn, pp. 459-466.
    Takanishi A, Ishida M, Yamazaki Y, Kato I. REALIZATION OF DYNAMIC WALKING BY THE BIPED WALKING ROBOT WL-10RD. In Unknown Host Publication Title. Tokyo, Jpn: Japan Industrial Robot Assoc. 1985. p. 459-466
    Takanishi, Atsuo ; Ishida, M. ; Yamazaki, Y. ; Kato, I. / REALIZATION OF DYNAMIC WALKING BY THE BIPED WALKING ROBOT WL-10RD. Unknown Host Publication Title. Tokyo, Jpn : Japan Industrial Robot Assoc, 1985. pp. 459-466
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