Realization of human-like biped walking

Hun Ok Lim*, Atsuo Takanishi

*この研究の対応する著者

研究成果

抄録

This study is aimed at the development of human-like biped robots and the realization of various biped-walking motions. We have constructed a life-sized humanoid robot called WABIAN-RII (WAseda BIped humANoid robot-Revised II) that has a total of forty-three mechanical degrees of freedom (DOF); two six DOF legs, two ten DOF arras, a four DOF neck, four DOF in the eyes and a torso with a three DOF waist. The biped humanoid robot is required to have the function of stability, followability and environmental adaptability to achieve human-like walking. A walking pattern generator generates unit patterns for a biped locomotion, and the complete walking pattern for followability is determined by synthesizing the unit patterns. The compensatory motion of the trunk and waist that is calculated by a balance control method ensures the stability of combined walking patterns. Through hardware experiments, we have realized follow walking, emotional walking, continuous walking and so on.

本文言語English
ホスト出版物のタイトルProceedings 2001 International Workshop on Bio-Robotics and Teleoperation
ページ39-45
ページ数7
出版ステータスPublished - 2001
外部発表はい
イベントProceedings 2001 International Workshop on Bio-Robotics and Teleoperation - Beijing, China
継続期間: 2001 5 272001 5 30

出版物シリーズ

名前Proceedings 2001 International Workshop on Bio-Robotics and Teleoperation

Conference

ConferenceProceedings 2001 International Workshop on Bio-Robotics and Teleoperation
国/地域China
CityBeijing
Period01/5/2701/5/30

ASJC Scopus subject areas

  • 工学(全般)

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