Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface

Atsuo Takanishi, Hun Ok Lim, Masayuki Tsuda, Ichiro Kato

Research output: Contribution to journalConference articlepeer-review

93 Citations (Scopus)


In this paper, the authors will introduce a control method for dynamic biped walking stabi- lized by trunk motion on a sagittally uneven sur-face, that is for a biped walking robot which has a trunk to stabilize its walking, and its effectiveness as supported bv walking experiments using a biped walking robot. This control method is based on the introduction of a new concept called a "Virtual Surface", to consider the ZMP (Zero Moment Point) on an uneven surface, and the main algorithm for computing the trunk motion which compensates for lower-limbs motion and time trajectory of the arbitrarily planned ZMP on the "Virtual Surfaces". Using this control method in a number of ex-periments the biped walking robot WL-12RIII (Waseda Leg - 12 Refined III) which has a trunk realized dynamic biped walking on stairs with a step height of 0.1[m] and a trapezoidal terrain with an inclination of ± 10[deg). The walk- 1.6[sec/step] on the trapezoidal terrain. So that, the effectiveness of this control method was experimentally supported.

Original languageEnglish
Article number262408
Pages (from-to)323-330
Number of pages8
JournalIEEE International Conference on Intelligent Robots and Systems
Publication statusPublished - 1990
Event1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990 - Tsuchiura, Ibaraki, Japan
Duration: 1990 Jul 31990 Jul 6

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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