Dynamic locomotion and mechanism of biped walking robot

Hun Ok Lim, Yu Ogura, Atsuo Takanishi

    研究成果: Conference contribution

    2 引用 (Scopus)


    The walking biped robot (WABIAN-2LL) can imitate human motions such as knee-stretching locomotions and deep bending motions because it is designed with large movable ranges as a human. It has two seven degrees of freedom (DOF) legs and a two DOF waist. Each leg consists of a three DOF ankle, a one DOF knee and a three DOF hip to deal with human walking motion. Its height is about 1.2[m], and its weight is 40[kg]. Also, how to make a knee-stretched walk pattern is proposed. During the walking, moments generated by the motion of the legs should be cancelled. So, a compensatory motion control algorithm is used which is based on the waist motion. Through dynamic walking experiments, the effectiveness of the biped robot is confirmed

    ホスト出版物のタイトル2006 SICE-ICASE International Joint Conference
    出版物ステータスPublished - 2006
    イベント2006 SICE-ICASE International Joint Conference - Busan
    継続期間: 2006 10 182006 10 21


    Other2006 SICE-ICASE International Joint Conference


    ASJC Scopus subject areas

    • Computer Science Applications
    • Control and Systems Engineering
    • Electrical and Electronic Engineering


    Lim, H. O., Ogura, Y., & Takanishi, A. (2006). Dynamic locomotion and mechanism of biped walking robot. : 2006 SICE-ICASE International Joint Conference (pp. 3484-3489). [4108364] https://doi.org/10.1109/SICE.2006.314618