抄録
This paper describes the evaluation of three different walking patterns of a biped humanoid robot. Stretch-walking patterns with straight legs for a biped robot are compared with conventional walking patterns with bent legs in terms of energy consumption. This paper discusses walking pattern generation for various walks. To confirm the walking pattern evaluation, we have developed a biped robot, WABIAN-2/LL, whose leg mechanism differs from the conventional leg mechanism that has 3 DOF (degrees of freedom) in each ankle, 1 DOF in each knee, 3 DOF in each hip, and 2 DOF in the waist. Walking experiments are conducted with WABIAN-2/LL, and the results demonstrate that stretch walking patterns are effective in terms of energy consumption.
| 本文言語 | English |
|---|---|
| ホスト出版物のタイトル | Proceedings of the 2005 IEEE International Conference on Robotics and Automation |
| ページ | 603-608 |
| ページ数 | 6 |
| DOI | |
| 出版ステータス | Published - 2005 12月 1 |
| イベント | 2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain 継続期間: 2005 4月 18 → 2005 4月 22 |
出版物シリーズ
| 名前 | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| 巻 | 2005 |
| ISSN（印刷版） | 1050-4729 |
Conference
| Conference | 2005 IEEE International Conference on Robotics and Automation |
|---|---|
| 国/地域 | Spain |
| City | Barcelona |
| Period | 05/4/18 → 05/4/22 |
ASJC Scopus subject areas
- ソフトウェア
- 制御およびシステム工学
- 人工知能
- 電子工学および電気工学
UN SDG
この成果は、次の持続可能な開発目標に貢献しています
