Evaluation of various walking patterns of biped humanoid robot

Yu Ogura*, Teruo Kataoka, Hiroyuki Aikawa, Kazushi Shimomura, Hun Ok Lim, Atsuo Takanishi

*この研究の対応する著者

研究成果

52 被引用数 (Scopus)

抄録

This paper describes the evaluation of three different walking patterns of a biped humanoid robot. Stretch-walking patterns with straight legs for a biped robot are compared with conventional walking patterns with bent legs in terms of energy consumption. This paper discusses walking pattern generation for various walks. To confirm the walking pattern evaluation, we have developed a biped robot, WABIAN-2/LL, whose leg mechanism differs from the conventional leg mechanism that has 3 DOF (degrees of freedom) in each ankle, 1 DOF in each knee, 3 DOF in each hip, and 2 DOF in the waist. Walking experiments are conducted with WABIAN-2/LL, and the results demonstrate that stretch walking patterns are effective in terms of energy consumption.

本文言語English
ホスト出版物のタイトルProceedings of the 2005 IEEE International Conference on Robotics and Automation
ページ603-608
ページ数6
DOI
出版ステータスPublished - 2005 12 1
イベント2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
継続期間: 2005 4 182005 4 22

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2005
ISSN(印刷版)1050-4729

Conference

Conference2005 IEEE International Conference on Robotics and Automation
国/地域Spain
CityBarcelona
Period05/4/1805/4/22

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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