REALIZATION OF PLANE WALKING BY THE BIPED WALKING ROBOT WL-10R.

A. Takanishi, G. Naito, M. Ishida, I. Kato

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

The purpose of this study is to accomplish plane walking by a hydraulic-powered biped walking robot on a flat floor. Plane walking consists of three types of fundamental pattern walkings: straight walking, sideway walking and turning. The control method is a program control with a preset walking pattern. In forward walking the gait is a quasi-dynamic walking. We propose a new quasi-dynamic walking-control method as follows: change-over phase is divided into four phases according to the floor contact of soles, a walking pattern is designed by computer simulation and the output to a machine model is interpolated with a parabola function. In the other walkings the gaits are static walkings which are statically stable through all walking cycles. The model WL-10R is an anthropomorphic biped walking robot with 12 degrees of freedom driven by an electro-hydro servo mechanism. Additionally, WL-10R has a control device on its upper body.

本文言語English
ホスト出版物のタイトルUnknown Host Publication Title
編集者Adam Morecki, Giovanni Bianchi, K. Kedzior
出版社MIT Press
ページ383-393
ページ数11
ISBN(印刷版)0262132087
出版ステータスPublished - 1985 12 1

ASJC Scopus subject areas

  • Engineering(all)

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