DocumentCode :
3444861
Title :
Experimental study of biped dynamic walking in the linear inverted pendulum mode
Author :
KAJITA, Shuuji ; Tani, Kazuo
Author_Institution :
Mechanical Eng. Lab., Ibaraki, Japan
Volume :
3
fYear :
1995
fDate :
21-27 May 1995
Firstpage :
2885
Abstract :
An experimental study of a biped robot is presented. A new scheme, named the “linear inverted pendulum mode” is utilized for controlling biped walking on rugged terrain. We developed a 6 d.o.f. biped robot “Meltran II” which has light weight legs and moves in a two dimensional vertical plane. To check the effects not well discussed in the theory, we carried out two experiments, the support phase experiment and the support exchange experiment. The support phase experiment was carried out to check the actual dynamics of biped walking when using the proposed control. It was shown that the dynamics of the robot can be regarded as linear even though the mass of the legs, which was neglected in the theory, exists, The support exchange experiment was performed to check leg support exchange. We found that a smooth leg support exchange is achieved by making the foot contact with a certain vertical speed and holding two leg support for a certain short period. Based on these results, a whole biped control system was implemented. In our experiment the robot walked over a box of 3.5 cm height at a speed of 20 cm/s
Keywords :
legged locomotion; 20 cm/s; 3.5 cm; 6-d.o.f. biped robot; Meltran II; biped dynamic walking; biped robot; light-weight legs; linear inverted pendulum mode; rugged terrain; support exchange experiment; support phase experiment; two dimensional vertical plane; Control systems; Equations; Foot; Laboratories; Leg; Legged locomotion; Mechanical engineering; Nonlinear dynamical systems; Robot control; Weight control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
ISSN :
1050-4729
Print_ISBN :
0-7803-1965-6
Type :
conf
DOI :
10.1109/ROBOT.1995.525693
Filename :
525693
Link To Document :
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