Realization of continuous biped walking

Hun Ok Lim, Atsuo Takanishi

Research output: Contribution to journalArticlepeer-review


This study is aimed at the realization of a continuous walking-pattern generated by combining some different patterns such as turning, forward, backward and side step patterns. A biped-walking robot is required to have the function of followability and stability to achieve continuous follow walking in a human’s living environment. Unit patterns for a biped locomotion are continuously generated by a walking pattern generator, and the complete walking pattern for followability is determined by synthesizing the unit patterns. The compensatory motion of the trunk and waist that is calculated by a stabilization control method ensures the stability of combined walking patterns. To explore human-like walking, we have constructed a two-legged robot, WABIAN-RII (WAseda BIpedal humANoid robot-Revised II). Through hardware experiments, the continuous biped walking is realized.

Original languageEnglish
Pages (from-to)1630-1635
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 2001

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture


Dive into the research topics of 'Realization of continuous biped walking'. Together they form a unique fingerprint.

Cite this