Evaluation of various walking patterns of biped humanoid robot

Yu Ogura; Teruo Kataoka; Hiroyuki Aikawa; Kazushi Shimomura; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/ROBOT.2005.1570184

Evaluation of various walking patterns of biped humanoid robot

Yu Ogura^*, Teruo Kataoka, Hiroyuki Aikawa, Kazushi Shimomura, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

School of Creative Science and Engineering

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

24 Citations (Scopus)

Abstract

This paper describes the evaluation of three different walking patterns of a biped humanoid robot. Stretch-walking patterns with straight legs for a biped robot are compared with conventional walking patterns with bent legs in terms of energy consumption. This paper discusses walking pattern generation for various walks. To confirm the walking pattern evaluation, we have developed a biped robot, WABIAN-2/LL, whose leg mechanism differs from the conventional leg mechanism that has 3 DOF (degrees of freedom) in each ankle, 1 DOF in each knee, 3 DOF in each hip, and 2 DOF in the waist. Walking experiments are conducted with WABIAN-2/LL, and the results demonstrate that stretch walking patterns are effective in terms of energy consumption.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	603-608
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570184
Publication status	Published - 2005 Dec 1
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 2005 Apr 18 → 2005 Apr 22

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Conference

Conference	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	05/4/18 → 05/4/22

Keywords

Biped walking
Energy consumption
Humanoid robot
Various walking gait

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ROBOT.2005.1570184

Cite this

Ogura, Y., Kataoka, T., Aikawa, H., Shimomura, K., Lim, H. O., & Takanishi, A. (2005). Evaluation of various walking patterns of biped humanoid robot. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 603-608). [1570184] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570184

Evaluation of various walking patterns of biped humanoid robot. / Ogura, Yu; Kataoka, Teruo; Aikawa, Hiroyuki et al.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 603-608 1570184 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

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

Ogura, Y, Kataoka, T, Aikawa, H, Shimomura, K, Lim, HO & Takanishi, A 2005, Evaluation of various walking patterns of biped humanoid robot. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570184, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 603-608, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570184

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title = "Evaluation of various walking patterns of biped humanoid robot",

abstract = "This paper describes the evaluation of three different walking patterns of a biped humanoid robot. Stretch-walking patterns with straight legs for a biped robot are compared with conventional walking patterns with bent legs in terms of energy consumption. This paper discusses walking pattern generation for various walks. To confirm the walking pattern evaluation, we have developed a biped robot, WABIAN-2/LL, whose leg mechanism differs from the conventional leg mechanism that has 3 DOF (degrees of freedom) in each ankle, 1 DOF in each knee, 3 DOF in each hip, and 2 DOF in the waist. Walking experiments are conducted with WABIAN-2/LL, and the results demonstrate that stretch walking patterns are effective in terms of energy consumption.",

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AU - Takanishi, Atsuo

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N2 - This paper describes the evaluation of three different walking patterns of a biped humanoid robot. Stretch-walking patterns with straight legs for a biped robot are compared with conventional walking patterns with bent legs in terms of energy consumption. This paper discusses walking pattern generation for various walks. To confirm the walking pattern evaluation, we have developed a biped robot, WABIAN-2/LL, whose leg mechanism differs from the conventional leg mechanism that has 3 DOF (degrees of freedom) in each ankle, 1 DOF in each knee, 3 DOF in each hip, and 2 DOF in the waist. Walking experiments are conducted with WABIAN-2/LL, and the results demonstrate that stretch walking patterns are effective in terms of energy consumption.

AB - This paper describes the evaluation of three different walking patterns of a biped humanoid robot. Stretch-walking patterns with straight legs for a biped robot are compared with conventional walking patterns with bent legs in terms of energy consumption. This paper discusses walking pattern generation for various walks. To confirm the walking pattern evaluation, we have developed a biped robot, WABIAN-2/LL, whose leg mechanism differs from the conventional leg mechanism that has 3 DOF (degrees of freedom) in each ankle, 1 DOF in each knee, 3 DOF in each hip, and 2 DOF in the waist. Walking experiments are conducted with WABIAN-2/LL, and the results demonstrate that stretch walking patterns are effective in terms of energy consumption.

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Evaluation of various walking patterns of biped humanoid robot

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

UN SDGs

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