Title :
Dynamic Locomotion and Mechanism of Biped Walking Robot
Author :
Lim, Hun-ok ; Ogura, Yu. ; Takanishi, Atsuo
Author_Institution :
Dept. of Mech. Eng., Kanagawa Univ., Yokohama
Abstract :
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
Keywords :
legged locomotion; motion control; DOF ankle; DOF hip; DOF knee; biped walking robot; deep bending motion; degrees of freedom; dynamic locomotion; human motions; knee-stretching locomotion; Hip; Humanoid robots; Humans; Intelligent robots; Knee; Leg; Legged locomotion; Mechanical engineering; Motion control; Neck;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.314618
