Title :
3D fast walking simulation of biped robot by yaw axis moment compensation
Author :
Hanamiya, Daisuke ; Kawamura, Atsuo
Author_Institution :
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan
Abstract :
The waist twisting is proposed to increase the walking speed without the arm swinging, and the control algorithm is verified by the 3D simulator ROCOS. The highest walking speed is increased from 3.6[km/h] with the arm swinging to 4.0 [km/h] with the waist twisting. The proposed control was also verified by the biped walking robot MARI-1.
Keywords :
digital simulation; legged locomotion; position control; 3.6 km/h; 3D fast walking simulation; 3D simulator ROCOS; 4.0 km/h; biped walking robot MARI-1; control algorithm; waist twisting; yaw axis moment compensation; Computational modeling; Computer simulation; Foot; Ground support; Laboratories; Leg; Legged locomotion; Lighting control; Performance analysis; Robot kinematics;
Conference_Titel :
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on
Print_ISBN :
0-7803-8300-1
DOI :
10.1109/AMC.2004.1297903
