Abstract
The purpose of this study is to accomplish plane walking by a hydraulic-powered biped walking robot on a flat floor. Plane walking consists of three types of fundamental pattern walkings: straight walking, sideway walking and turning. The control method is a program control with a preset walking pattern. In forward walking the gait is a quasi-dynamic walking. We propose a new quasi-dynamic walking-control method as follows: change-over phase is divided into four phases according to the floor contact of soles, a walking pattern is designed by computer simulation and the output to a machine model is interpolated with a parabola function. In the other walkings the gaits are static walkings which are statically stable through all walking cycles. The model WL-10R is an anthropomorphic biped walking robot with 12 degrees of freedom driven by an electro-hydro servo mechanism. Additionally, WL-10R has a control device on its upper body.
| Original language | English |
|---|---|
| Title of host publication | Unknown Host Publication Title |
| Editors | Adam Morecki, Giovanni Bianchi, K. Kedzior |
| Publisher | MIT Press |
| Pages | 383-393 |
| Number of pages | 11 |
| ISBN (Print) | 0262132087 |
| Publication status | Published - 1985 Dec 1 |
ASJC Scopus subject areas
- Engineering(all)