Dynamic locomotion and mechanism of biped walking robot

被引：0
|
作者：
Lim, Hun-ok [1 ,3 ]
Ogura, Yu [2 ]
Takanishi, Atsuo [2 ,3 ]
机构：
[1] Kanagawa Univ, Dept Mech Engn, Kanagawa Ku, 3-27-1 Rokkakubashi, Yokohama, Kanagawa 2218686, Japan
[2] Waseda Univ, Dept Mech Engn, Tokyo, Japan
[3] Waseda Univ, Humanoid Robot Inst, Tokyo, Japan
来源：
2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 | 2006年
关键词：
y;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The walking biped robot (WABIAN-2LL) can imitate human motions such as knee-stretching locomotions and deep bending motions because it is designed with large movable ranges as a human. It has two seven degrees of freedom (DOF) legs and a two DOF waist. Each leg consists of a three DOF ankle, a one DOF knee and a three DOF hip to deal with human walking motion. Its height is about 1.2[m], and its weight is 40[kg]. Also, how to make a knee-stretched walk pattern is proposed. During the walking, moments generated by the motion of the legs should be cancelled. So, a compensatory motion control algorithm is used which is based on the waist motion. Through dynamic walking experiments, the effectiveness of the biped robot is confirmed.
引用
收藏
页码：1641 / +
页数：3
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