Title :
Development of biped walking robot KBR-1R
Author :
Lim, Hun-ok ; Tajima, Kensuke ; Yoshida, Tetsuya ; Watanabe, Katsuhiro
Author_Institution :
Grad. Sch. of Eng., Kanagawa Univ., Yokohama, Japan
Abstract :
This paper describes the mechanism of KBR-1R (Kanagawa Biped Robot-1 Refined) that is able to walk on even and uneven terrain. The KBR-1R has 15 degrees of freedom (DOF) (two 6 DOF legs and a 3 DOF waist). It was designed with a large movable range like a human. Also, a compensatory motion control for stable walking is described which is based on the motion of the trunk. Using the KBR-1R, various walking experiments are conducted, and the effectiveness of the mechanism and the control method is confirmed.
Keywords :
control system synthesis; humanoid robots; legged locomotion; motion control; biped walking robot; kanagawa biped robot-1 refined; motion control; Cost function; Hip; Humanoid robots; Humans; Knee; Leg; Legged locomotion; Motion control; Neck; Wrist; Biped walking; compensatory motion; cost function; movable angle; waist motion; zero moment point;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
