Compensatory motion control for a biped walking robot

Hun Ok Lim*, Atsuo Takanishi


研究成果: Article査読

24 被引用数 (Scopus)


This paper addresses a compensatory motion control algorithm of a biped robot to deal with stable dynamic walking on even or uneven terrain. This control algorithm consists of three main parts; the introduction of a virtual plane to consider ZMP (Zero Moment Point); an iteration algorithm to compute the trunk motion; and a program control to realize dynamic walking. The virtual plane is defined as a plane formed by the support points between the surface of terrain and the soles. In order to obtain the trunk motion capable of compensating for the moments produced by the motion of the lower-limbs during the walking, ZMP equation on the virtual plane is computed by using an iteration method. Also, a walking pattern is presented which is composed of the trajectories of lower-limbs, waist and trunk. The walking pattern is commanded to the joints of WL-12RIII (Waseda Leg-Twelve Refined Three) using a program control method. Through walking simulations and experiments on an uneven terrain, such as stairs and sloped terrain, the effectiveness of the control method is verified.

出版ステータスPublished - 2005 1月 1

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 数学 (全般)
  • コンピュータ サイエンスの応用


「Compensatory motion control for a biped walking robot」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。