Realization of continuous biped walking

Hun Ok Lim; Atsuo Takanishi

doi:10.1109/ICSMC.2001.973518

Realization of continuous biped walking

Hun Ok Lim, Atsuo Takanishi

School of Creative Science and Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

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 language	English
Pages (from-to)	1630-1635
Number of pages	6
Journal	Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume	3
DOIs	https://doi.org/10.1109/ICSMC.2001.973518
Publication status	Published - 2001

ASJC Scopus subject areas

Control and Systems Engineering
Hardware and Architecture

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10.1109/ICSMC.2001.973518

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Realization of continuous biped walking

Abstract

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