Development of a bipedal humanoid robot - control method of whole body cooperative dynamic biped walking

Jin'ichi Yamaguchi*, Eiji Soga, Sadatoshi Inoue, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference article査読

294 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)368-374
ページ数7
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
1
出版ステータスPublished - 1999 1 1
イベントProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
継続期間: 1999 5 101999 5 15

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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