TY - GEN
T1 - Development of a biped walking robot compensating for three-axis moment by trunk motion
AU - Yamaguchi, Jin ichi
AU - Takanishi, Atsuo
AU - Kato, Ichiro
PY - 1993/12/1
Y1 - 1993/12/1
N2 - The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot which has a trunk. In this paper, the authors introduce a control method of dynamic biped walking for a biped walking robot to compensate for the three-axis (pitch, roll and yaw-axis) moment on an arbitrary planned ZMP by trunk motion. The authors developed a biped walking robot and performed a walking experiment with the robot using the control method. The result was a fast dynamic biped walking at the walking speed of 0.54 s/step with a 0.3 m step on a flat floor. This walking speed is about 50 percent faster than that with the robot which compensates for only the two-axis (pitch and roll-axis) moment by trunk motion.
AB - The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot which has a trunk. In this paper, the authors introduce a control method of dynamic biped walking for a biped walking robot to compensate for the three-axis (pitch, roll and yaw-axis) moment on an arbitrary planned ZMP by trunk motion. The authors developed a biped walking robot and performed a walking experiment with the robot using the control method. The result was a fast dynamic biped walking at the walking speed of 0.54 s/step with a 0.3 m step on a flat floor. This walking speed is about 50 percent faster than that with the robot which compensates for only the two-axis (pitch and roll-axis) moment by trunk motion.
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M3 - Conference contribution
AN - SCOPUS:0027803267
SN - 0780308239
T3 - 1993 International Conference on Intelligent Robots and Systems
SP - 561
EP - 566
BT - 1993 International Conference on Intelligent Robots and Systems
A2 - Anon, null
PB - Publ by IEEE
T2 - Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
Y2 - 26 July 1993 through 30 July 1993
ER -