TY - JOUR
T1 - Dynamic biped walking stabilized with optimal trunk and waist motion
AU - Takanishi, A.
AU - Tochizawa, M.
AU - Karaki, H.
AU - Kato, I.
PY - 1989/1/1
Y1 - 1989/1/1
N2 - In this piper, the authors introduce a oontrol methOO for dynamic biped walking stabilized with trunk ani waist llDtion. The main algorithm of this methOO is l:ased en cxmputing optimal time trajectories of the trunk and waist by arbitrarily giving trajectories of the foot ani the ZMP( Zero l'bnent Point) [ 1 ] , ani an external force pittern before the robot begins walking. To detennine the optimal time trajectories of the trunk and waist, the authors used a performance index including the relative position of the trunk arrl the waist multiplied by weight coefficients. In 1987, a biped walking robot WL-12R (Waseda Ieg - 12 Refined) realized various gaits wrler rectangular external force in dynamic cxmplete walking stabilized with trunk ani waist !lDtion on a flat floor. The maximum force strength during these experiments was 10[kgf]. The time spent walking was 2.6[s/step] and the maximum step length was 0.3[m].
AB - In this piper, the authors introduce a oontrol methOO for dynamic biped walking stabilized with trunk ani waist llDtion. The main algorithm of this methOO is l:ased en cxmputing optimal time trajectories of the trunk and waist by arbitrarily giving trajectories of the foot ani the ZMP( Zero l'bnent Point) [ 1 ] , ani an external force pittern before the robot begins walking. To detennine the optimal time trajectories of the trunk and waist, the authors used a performance index including the relative position of the trunk arrl the waist multiplied by weight coefficients. In 1987, a biped walking robot WL-12R (Waseda Ieg - 12 Refined) realized various gaits wrler rectangular external force in dynamic cxmplete walking stabilized with trunk ani waist !lDtion on a flat floor. The maximum force strength during these experiments was 10[kgf]. The time spent walking was 2.6[s/step] and the maximum step length was 0.3[m].
UR - http://www.scopus.com/inward/record.url?scp=0001248425&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0001248425&partnerID=8YFLogxK
U2 - 10.1109/IROS.1989.637905
DO - 10.1109/IROS.1989.637905
M3 - Conference article
AN - SCOPUS:0001248425
SN - 2153-0858
VL - 1989-September
SP - 187
EP - 192
JO - IEEE International Conference on Intelligent Robots and Systems
JF - IEEE International Conference on Intelligent Robots and Systems
M1 - 637905
T2 - 1989 IEEE/RSJ International Workshop on Intelligent Robots and Systems, IROS 1989
Y2 - 4 September 1989 through 6 September 1989
ER -