A. Takanishi, G. Naito, M. Ishida, I. Kato

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

7 Citations (Scopus)


The purpose of this study is to accomplish plane walking by a hydraulic-powered biped walking robot on a flat floor. Plane walking consists of three types of fundamental pattern walkings: straight walking, sideway walking and turning. The control method is a program control with a preset walking pattern. In forward walking the gait is a quasi-dynamic walking. We propose a new quasi-dynamic walking-control method as follows: change-over phase is divided into four phases according to the floor contact of soles, a walking pattern is designed by computer simulation and the output to a machine model is interpolated with a parabola function. In the other walkings the gaits are static walkings which are statically stable through all walking cycles. The model WL-10R is an anthropomorphic biped walking robot with 12 degrees of freedom driven by an electro-hydro servo mechanism. Additionally, WL-10R has a control device on its upper body.

Original languageEnglish
Title of host publicationUnknown Host Publication Title
EditorsAdam Morecki, Giovanni Bianchi, K. Kedzior
PublisherMIT Press
Number of pages11
ISBN (Print)0262132087
Publication statusPublished - 1985 Dec 1

ASJC Scopus subject areas

  • Engineering(all)

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    Takanishi, A., Naito, G., Ishida, M., & Kato, I. (1985). REALIZATION OF PLANE WALKING BY THE BIPED WALKING ROBOT WL-10R. In A. Morecki, G. Bianchi, & K. Kedzior (Eds.), Unknown Host Publication Title (pp. 383-393). MIT Press.