TY - JOUR
T1 - Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface
AU - Takanishi, Atsuo
AU - Lim, Hun Ok
AU - Tsuda, Masayuki
AU - Kato, Ichiro
N1 - Funding Information:
The authors thank KURODA PRECISION INDUSTRIES LTD., MOOG JAPAN LTD., and TORAY INDUSTRIES, INC, for supporting us to make the WL-12.
Publisher Copyright:
© 1990 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.
PY - 1990
Y1 - 1990
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS.1990.262408
DO - 10.1109/IROS.1990.262408
M3 - Conference article
AN - SCOPUS:85110648960
SN - 2153-0858
VL - 1990-July
SP - 323
EP - 330
JO - IEEE International Conference on Intelligent Robots and Systems
JF - IEEE International Conference on Intelligent Robots and Systems
M1 - 262408
T2 - 1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990
Y2 - 3 July 1990 through 6 July 1990
ER -