REALIZATION OF PLANE WALKING BY THE BIPED WALKING ROBOT WL-10R.

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

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

    7 Citations (Scopus)

    Abstract

    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
    Place of PublicationCambridge, MA, USA
    PublisherMIT Press
    Pages383-393
    Number of pages11
    ISBN (Print)0262132087
    Publication statusPublished - 1985

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    Robots
    Hydraulics
    Computer simulation

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    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). Cambridge, MA, USA: MIT Press.

    REALIZATION OF PLANE WALKING BY THE BIPED WALKING ROBOT WL-10R. / Takanishi, Atsuo; Naito, G.; Ishida, M.; Kato, I.

    Unknown Host Publication Title. ed. / Adam Morecki; Giovanni Bianchi; K. Kedzior. Cambridge, MA, USA : MIT Press, 1985. p. 383-393.

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

    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. MIT Press, Cambridge, MA, USA, pp. 383-393.
    Takanishi A, Naito G, Ishida M, Kato I. REALIZATION OF PLANE WALKING BY THE BIPED WALKING ROBOT WL-10R. In Morecki A, Bianchi G, Kedzior K, editors, Unknown Host Publication Title. Cambridge, MA, USA: MIT Press. 1985. p. 383-393
    Takanishi, Atsuo ; Naito, G. ; Ishida, M. ; Kato, I. / REALIZATION OF PLANE WALKING BY THE BIPED WALKING ROBOT WL-10R. Unknown Host Publication Title. editor / Adam Morecki ; Giovanni Bianchi ; K. Kedzior. Cambridge, MA, USA : MIT Press, 1985. pp. 383-393
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