Dynamic biped walking stabilized with optimal trunk and waist motion

A. Takanishi, M. Tochizawa, H. Karaki, I. Kato

研究成果: Conference article査読

65 被引用数 (Scopus)

抄録

In this piper, the authors introduce a oontrol methOO for dynamic biped walking stabilized with trunk ani waist llDtion. The main algorithm of this methOO is l:ased en cxmputing optimal time trajectories of the trunk and waist by arbitrarily giving trajectories of the foot ani the ZMP( Zero l'bnent Point) [ 1 ] , ani an external force pittern before the robot begins walking. To detennine the optimal time trajectories of the trunk and waist, the authors used a performance index including the relative position of the trunk arrl the waist multiplied by weight coefficients. In 1987, a biped walking robot WL-12R (Waseda Ieg - 12 Refined) realized various gaits wrler rectangular external force in dynamic cxmplete walking stabilized with trunk ani waist !lDtion on a flat floor. The maximum force strength during these experiments was 10[kgf]. The time spent walking was 2.6[s/step] and the maximum step length was 0.3[m].

本文言語English
論文番号637905
ページ(範囲)187-192
ページ数6
ジャーナルIEEE International Conference on Intelligent Robots and Systems
1989-September
DOI
出版ステータスPublished - 1989 1 1
イベント1989 IEEE/RSJ International Workshop on Intelligent Robots and Systems, IROS 1989 - Tsukuba, Japan
継続期間: 1989 9 41989 9 6

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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