Dynamic locomotion and mechanism of biped walking robot

Hun Ok Lim*, Yu Ogura, Atsuo Takanishi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


The walking biped robot (WABIAN-2LL) can imitate human motions such as knee-stretching locomotions and deep bending motions because it is designed with large movable ranges as a human. It has two seven degrees of freedom (DOF) legs and a two DOF waist. Each leg consists of a three DOF ankle, a one DOF knee and a three DOF hip to deal with human walking motion. Its height is about 1.2[m], and its weight is 40[kg]. Also, how to make a knee-stretched walk pattern is proposed. During the walking, moments generated by the motion of the legs should be cancelled. So, a compensatory motion control algorithm is used which is based on the waist motion. Through dynamic walking experiments, the effectiveness of the biped robot is confirmed

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006 Dec 1
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Conference2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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