Abstract
This paper describes a balance control of biped locomotion systems. A biped humanoid robot is modeled and studied focusing on the realization of human-like walking. Firstly, the smooth motion of its lower-limbs is characterized in terms of a set of walking variables. Secondly, to cancel moments produced by the motion of the lower-limbs, the motion of its trunk and waist is derived by an iteration method. Finally, a program control using a preset walking motion is applied to the biped robot. To confirm of human-like walking, we have constructed a human-like biped robot called WABIAN-RII (WAseda BIped humANoid robot-Revised II) that has a total of forty-three mechanical degrees of freedom (DOF). Experiments of a human-follow walking are conducted using the WABIAN-RII.
| Original language | English |
|---|---|
| Pages (from-to) | 3271-3276 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 5 |
| Publication status | Published - 2000 Dec 1 |
| Event | 2000 IEEE International Conference on Systems, Man and Cybernetics - Nashville, TN, USA Duration: 2000 Oct 8 → 2000 Oct 11 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Hardware and Architecture