Control to realize human-like walking of a biped humanoid robot

Hun ok Lim*, Yousuke Yamamoto, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference article査読

21 被引用数 (Scopus)

抄録

This paper describes a balance control of biped locomotion systems. A biped humanoid robot is modeled and studied focusing on the realization of human-like walking. Firstly, the smooth motion of its lower-limbs is characterized in terms of a set of walking variables. Secondly, to cancel moments produced by the motion of the lower-limbs, the motion of its trunk and waist is derived by an iteration method. Finally, a program control using a preset walking motion is applied to the biped robot. To confirm of human-like walking, we have constructed a human-like biped robot called WABIAN-RII (WAseda BIped humANoid robot-Revised II) that has a total of forty-three mechanical degrees of freedom (DOF). Experiments of a human-follow walking are conducted using the WABIAN-RII.

本文言語English
ページ(範囲)3271-3276
ページ数6
ジャーナルProceedings of the IEEE International Conference on Systems, Man and Cybernetics
5
出版ステータスPublished - 2000 12 1
イベント2000 IEEE International Conference on Systems, Man and Cybernetics - Nashville, TN, USA
継続期間: 2000 10 82000 10 11

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ハードウェアとアーキテクチャ

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