Hostname: page-component-78c5997874-v9fdk Total loading time: 0 Render date: 2024-11-06T12:22:16.885Z Has data issue: false hasContentIssue false
  • English
  • Français

Quasi-human biped walking

Published online by Cambridge University Press:  31 October 2005

Hun-ok Lim ,
Sang-ho Hyon ,
Samuel A. Setiawan  and
Atsuo Takanishi
Hun-ok Lim
Affiliation:
Department of Mechanical Engineering, Kanagawa University 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama, 221-8686 (Japan). Humanoid Robotics Institute, Waseda University (Japan).
Sang-ho Hyon
Affiliation:
Department of Mechanical Engineering, Waseda University (Japan).
Samuel A. Setiawan
Affiliation:
Department of Mechanical Engineering, Waseda University (Japan).
Atsuo Takanishi
Affiliation:
Humanoid Robotics Institute, Waseda University (Japan). Department of Mechanical Engineering, Waseda University (Japan).
Get access Rights & Permissions [Opens in a new window]

Abstract

Our goal is to develop biped humanoid robots capable of working stably in a human living and working space, with a focus on their physical construction and motion control. At the first stage, we have developed a human-like biped robot, WABIAN (WAseda BIped humANoid), which has a thirty-five mechanical degrees of freedom. Its height is 1.66 [m] and its weight 107.4 [kg]. In this paper, a moment compensation method is described for stability, which is based on the motion of its head, legs and arms. Also, a follow walking method is proposed which is based on a pattern switching technique. By a combination of both methods, the biped robot is able to perform dynamic stamping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. Using WABIAN, human-fellow walking experiments are conducted, and the effectiveness of the methods are verified.

Keywords

InteractionHuman-follow walkingCompensatory motionWalking patternPattern synthesis
Type
Article
Information
Robotica , Volume 24 , Issue 2 , March 2006 , pp. 257 - 268
Copyright
2005 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)