TY - GEN
T1 - Dynamic locomotion and mechanism of biped walking robot
AU - Lim, Hun Ok
AU - Ogura, Yu
AU - Takanishi, Atsuo
PY - 2006/12/1
Y1 - 2006/12/1
N2 - 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
AB - 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
UR - http://www.scopus.com/inward/record.url?scp=34250770538&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250770538&partnerID=8YFLogxK
U2 - 10.1109/SICE.2006.314618
DO - 10.1109/SICE.2006.314618
M3 - Conference contribution
AN - SCOPUS:34250770538
SN - 8995003855
SN - 9788995003855
T3 - 2006 SICE-ICASE International Joint Conference
SP - 3484
EP - 3489
BT - 2006 SICE-ICASE International Joint Conference
T2 - 2006 SICE-ICASE International Joint Conference
Y2 - 18 October 2006 through 21 October 2006
ER -