Development of a biped walking robot compensating for three-axis moment by trunk motion

Jin ichi Yamaguchi*, Atsuo Takanishi, Ichiro Kato

*この研究の対応する著者

研究成果: Conference contribution

139 被引用数 (Scopus)

抄録

The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot which has a trunk. In this paper, the authors introduce a control method of dynamic biped walking for a biped walking robot to compensate for the three-axis (pitch, roll and yaw-axis) moment on an arbitrary planned ZMP by trunk motion. The authors developed a biped walking robot and performed a walking experiment with the robot using the control method. The result was a fast dynamic biped walking at the walking speed of 0.54 s/step with a 0.3 m step on a flat floor. This walking speed is about 50 percent faster than that with the robot which compensates for only the two-axis (pitch and roll-axis) moment by trunk motion.

本文言語English
ホスト出版物のタイトル1993 International Conference on Intelligent Robots and Systems
編集者 Anon
出版社Publ by IEEE
ページ561-566
ページ数6
ISBN(印刷版)0780308239
出版ステータスPublished - 1993 12 1
イベントProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
継続期間: 1993 7 261993 7 30

出版物シリーズ

名前1993 International Conference on Intelligent Robots and Systems

Other

OtherProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
CityYokohama, Jpn
Period93/7/2693/7/30

ASJC Scopus subject areas

  • 工学(全般)

フィンガープリント

「Development of a biped walking robot compensating for three-axis moment by trunk motion」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル