TY - JOUR
T1 - Development of a bipedal humanoid robot - control method of whole body cooperative dynamic biped walking
AU - Yamaguchi, Jin'ichi
AU - Soga, Eiji
AU - Inoue, Sadatoshi
AU - Takanishi, Atsuo
PY - 1999/1/1
Y1 - 1999/1/1
N2 - The authors have focused on the bipedal humanoid robot expected to play an active role in human living space, through studies on an anthropomorphic biped walking robot. As the first stage of developing a bipedal humanoid robot, the authors developed the human-size 35 active DOF bipedal humanoid robot 'WABIAN' and the human-size 41 active DOF bipedal humanoid robot 'WABIAN-R'. The authors also proposed a basic control method of whole body cooperative dynamic biped walking that uses trunk or trunk-waist cooperative motion to compensate for three-axis (pitch, roll and yaw-axis) moment generated not only by the motion of the lower-limbs planned arbitrarily but by the time trajectory of the hands planned arbitrarily. Using these systems and the control method, normal biped walking (forward and backward), dynamic dance waving arms and hip, dynamic carrying of a load using it arms, and trunk-waist cooperative dynamic walking are achieved.
AB - The authors have focused on the bipedal humanoid robot expected to play an active role in human living space, through studies on an anthropomorphic biped walking robot. As the first stage of developing a bipedal humanoid robot, the authors developed the human-size 35 active DOF bipedal humanoid robot 'WABIAN' and the human-size 41 active DOF bipedal humanoid robot 'WABIAN-R'. The authors also proposed a basic control method of whole body cooperative dynamic biped walking that uses trunk or trunk-waist cooperative motion to compensate for three-axis (pitch, roll and yaw-axis) moment generated not only by the motion of the lower-limbs planned arbitrarily but by the time trajectory of the hands planned arbitrarily. Using these systems and the control method, normal biped walking (forward and backward), dynamic dance waving arms and hip, dynamic carrying of a load using it arms, and trunk-waist cooperative dynamic walking are achieved.
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M3 - Conference article
AN - SCOPUS:0032683992
VL - 1
SP - 368
EP - 374
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
SN - 1050-4729
T2 - Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99
Y2 - 10 May 1999 through 15 May 1999
ER -