Realization of human-like biped walking

Hun Ok Lim, Atsuo Takanishi

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

Abstract

This study is aimed at the development of human-like biped robots and the realization of various biped-walking motions. We have constructed a life-sized humanoid robot called WABIAN-RII (WAseda BIped humANoid robot-Revised II) that has a total of forty-three mechanical degrees of freedom (DOF); two six DOF legs, two ten DOF arras, a four DOF neck, four DOF in the eyes and a torso with a three DOF waist. The biped humanoid robot is required to have the function of stability, followability and environmental adaptability to achieve human-like walking. A walking pattern generator generates unit patterns for a biped locomotion, 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 balance control method ensures the stability of combined walking patterns. Through hardware experiments, we have realized follow walking, emotional walking, continuous walking and so on.

Original languageEnglish
Title of host publicationProceedings 2001 International Workshop on Bio-Robotics and Teleoperation
Pages39-45
Number of pages7
Publication statusPublished - 2001 Dec 1
Externally publishedYes
EventProceedings 2001 International Workshop on Bio-Robotics and Teleoperation - Beijing, China
Duration: 2001 May 272001 May 30

Publication series

NameProceedings 2001 International Workshop on Bio-Robotics and Teleoperation

Conference

ConferenceProceedings 2001 International Workshop on Bio-Robotics and Teleoperation
CountryChina
CityBeijing
Period01/5/2701/5/30

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Lim, H. O., & Takanishi, A. (2001). Realization of human-like biped walking. In Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation (pp. 39-45). (Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation).