TY - GEN
T1 - Learning of robot biped walking with the cooperation of a human
AU - Li, Qinghua
AU - Takanishi, Atsuo
AU - Kato, I.
PY - 1993/1/1
Y1 - 1993/1/1
N2 - In this paper, the authors devise a method that a biped walking robot realizes a learning process of walking stabilization with the cooperation of a human, by considering the learning process of a baby. The authors developed a biped walking robot which has a trunk. They have equipped the robot with a system for measuring the zero moment point (ZMP) of the robot by using universal force-moment sensors and with a mechanical interface for the cooperation. The authors did walking experiments with the biped walking robot, in which a human directly taught the robot the desired ZMP which makes the walking be stable, and the robot learned to stabilize its walking with the cooperation of the human. As a result, the robot obtained the given desired stability by modifying its trunk motion and it achieved stable walking by itself through the process of several learning trials. This kind of function is integral to an anthropomorphic robot, which the authors call a Humanoid, being a human's partner in the future.
AB - In this paper, the authors devise a method that a biped walking robot realizes a learning process of walking stabilization with the cooperation of a human, by considering the learning process of a baby. The authors developed a biped walking robot which has a trunk. They have equipped the robot with a system for measuring the zero moment point (ZMP) of the robot by using universal force-moment sensors and with a mechanical interface for the cooperation. The authors did walking experiments with the biped walking robot, in which a human directly taught the robot the desired ZMP which makes the walking be stable, and the robot learned to stabilize its walking with the cooperation of the human. As a result, the robot obtained the given desired stability by modifying its trunk motion and it achieved stable walking by itself through the process of several learning trials. This kind of function is integral to an anthropomorphic robot, which the authors call a Humanoid, being a human's partner in the future.
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U2 - 10.1109/ROMAN.1993.367686
DO - 10.1109/ROMAN.1993.367686
M3 - Conference contribution
AN - SCOPUS:85026801882
T3 - Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
SP - 393
EP - 397
BT - Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
Y2 - 3 November 1993 through 5 November 1993
ER -