Development of a biped walking robot compensating for three-axis moment by trunk motion

Jin ichi Yamaguchi; Atsuo Takanishi; Ichiro Kato

Development of a biped walking robot compensating for three-axis moment by trunk motion

Jin ichi Yamaguchi^*, Atsuo Takanishi, Ichiro Kato

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

143 Citations (Scopus)

Abstract

The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot which has a trunk. In this paper, the authors introduce a control method of dynamic biped walking for a biped walking robot to compensate for the three-axis (pitch, roll and yaw-axis) moment on an arbitrary planned ZMP by trunk motion. The authors developed a biped walking robot and performed a walking experiment with the robot using the control method. The result was a fast dynamic biped walking at the walking speed of 0.54 s/step with a 0.3 m step on a flat floor. This walking speed is about 50 percent faster than that with the robot which compensates for only the two-axis (pitch and roll-axis) moment by trunk motion.

Original language	English
Title of host publication	1993 International Conference on Intelligent Robots and Systems
Editors	Anon
Publisher	Publ by IEEE
Pages	561-566
Number of pages	6
ISBN (Print)	0780308239
Publication status	Published - 1993 Dec 1
Event	Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn Duration: 1993 Jul 26 → 1993 Jul 30

Publication series

Name	1993 International Conference on Intelligent Robots and Systems

Other

Other	Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
City	Yokohama, Jpn
Period	93/7/26 → 93/7/30

ASJC Scopus subject areas

Engineering(all)

Cite this

Development of a biped walking robot compensating for three-axis moment by trunk motion. / Yamaguchi, Jin ichi; Takanishi, Atsuo; Kato, Ichiro.
1993 International Conference on Intelligent Robots and Systems. ed. / Anon. Publ by IEEE, 1993. p. 561-566 (1993 International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yamaguchi, JI, Takanishi, A & Kato, I 1993, Development of a biped walking robot compensating for three-axis moment by trunk motion. in Anon (ed.), 1993 International Conference on Intelligent Robots and Systems. 1993 International Conference on Intelligent Robots and Systems, Publ by IEEE, pp. 561-566, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Jpn, 93/7/26.

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abstract = "The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot which has a trunk. In this paper, the authors introduce a control method of dynamic biped walking for a biped walking robot to compensate for the three-axis (pitch, roll and yaw-axis) moment on an arbitrary planned ZMP by trunk motion. The authors developed a biped walking robot and performed a walking experiment with the robot using the control method. The result was a fast dynamic biped walking at the walking speed of 0.54 s/step with a 0.3 m step on a flat floor. This walking speed is about 50 percent faster than that with the robot which compensates for only the two-axis (pitch and roll-axis) moment by trunk motion.",

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N2 - The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot which has a trunk. In this paper, the authors introduce a control method of dynamic biped walking for a biped walking robot to compensate for the three-axis (pitch, roll and yaw-axis) moment on an arbitrary planned ZMP by trunk motion. The authors developed a biped walking robot and performed a walking experiment with the robot using the control method. The result was a fast dynamic biped walking at the walking speed of 0.54 s/step with a 0.3 m step on a flat floor. This walking speed is about 50 percent faster than that with the robot which compensates for only the two-axis (pitch and roll-axis) moment by trunk motion.

AB - The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot which has a trunk. In this paper, the authors introduce a control method of dynamic biped walking for a biped walking robot to compensate for the three-axis (pitch, roll and yaw-axis) moment on an arbitrary planned ZMP by trunk motion. The authors developed a biped walking robot and performed a walking experiment with the robot using the control method. The result was a fast dynamic biped walking at the walking speed of 0.54 s/step with a 0.3 m step on a flat floor. This walking speed is about 50 percent faster than that with the robot which compensates for only the two-axis (pitch and roll-axis) moment by trunk motion.

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Development of a biped walking robot compensating for three-axis moment by trunk motion

Abstract

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ASJC Scopus subject areas

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