Locomotion pattern generation and mechanisms of a new biped walking machine

Hun Ok Lim*, Y. Ogura, Atsuo Takanishi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


This paper describes the mechanism of a 16 d.f. biped walking machine, Waseda biped humanoid robot-2 lower limb (WABIAN-2LL), which has two 7 d.f. legs and a 2 d.f. waist actuated by DC servo motors with reduction gears. WABIAN-2LL is designed with large movable angle ranges like those of a human. Its height and weight are 1200mm and 40kg, respectively. It is able to walk with its knees stretched using the redundancy of the legs and to move around an object using a hip-bending motion without touching the object. A knee-stretched locomotion pattern generation is also proposed in this paper, which separately creates joint angles in a supporting and a swinging phase. During knee-stretched walking, the joint rate of the knee will approach infinitely when the knee is stretched. This singularity problem is solved by using the motion of the waist, not the posture of the trunk. The effectiveness of the mechanisms and pattern generations of WABIAN-2LL is verified through dynamic walking experiments.

Original languageEnglish
Pages (from-to)273-288
Number of pages16
JournalProceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences
Issue number2089
Publication statusPublished - 2008 Jan 8


  • Biped walking machine
  • Compensatory motion
  • Humanoid robot
  • Knee-stretched motion
  • Locomotion pattern

ASJC Scopus subject areas

  • Mathematics(all)
  • Engineering(all)
  • Physics and Astronomy(all)


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