Development of a biped walking robot adapting to a horizontally uneven surface

Jin ichi Yamaguchi*, Atsuo Takanishi, Ichiro Kato

*この研究の対応する著者

研究成果: Paper査読

45 被引用数 (Scopus)

抄録

In this paper, as the first stage of the biped walking adapting to an uneven surface using an anthropomorphic biped walking robot, the authors introduce a biped walking control method for adapting to a surface that is called a Horizontally Composed (HC) plane whose steps' height is unknown, and an special foot mechanism which is capable of shock absorbing using viscous elastomer for a HC-plane whose steps' height is unknown. The authors developed an anthropomorphic biped walking robot with the foot mechanism and performed walking experiments with the robot using the control method. As a result, adaptive dynamic biped walking over a step of unknown height was realized. The maximum walking speed was 0.96 sec per step with a 0.3 m step length, and the greatest step height was 12 mm. The authors believe that the adaptability is integral to an anthropomorphic robot that will support human living in the near future. The authors call the robot Humanoid. Study on the Humanoid is being done as the Project: Humanoid at HUREL (HUmanoid REsearch Laboratory), Advanced Research Center for Science and Engineering, Waseda University.

本文言語English
ページ1156-1163
ページ数8
出版ステータスPublished - 1994 12月 1
イベントProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger
継続期間: 1994 9月 121994 9月 16

Other

OtherProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityMunich, Ger
Period94/9/1294/9/16

ASJC Scopus subject areas

  • 工学(全般)

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