Study of bipedal robot walking motion in low gravity: Investigation and analysis

Aiman Omer*, Kenji Hashimoto, Hun Ok Lim, Atsuo Takanishi


研究成果: Article査読

13 被引用数 (Scopus)


Humanoid robots are expected to play a major role in the future of space and planetary exploration. Humanoid robot features could have many advantages, such as interacting with astronauts and the ability to perform human tasks. However, the challenge of developing such a robot is quite high due to many difficulties. One of the main difficulties is the difference in gravity. Most researchers in the field of bipedal locomotion have not paid much attention to the effect of gravity. Gravity is an important parameter in generating a bipedal locomotion trajectory. This research investigates the effect of gravity on bipedal walking motion. It focuses on low gravity, since most of the known planets and moons have lower gravity than earth. Further study is conducted on a full humanoid robot model walking subject to the moon's gravity, and an approach for dealing with moon gravity is proposed in this paper.

ジャーナルInternational Journal of Advanced Robotic Systems
出版ステータスPublished - 2014 9月 2

ASJC Scopus subject areas

  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 人工知能


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