scholarly journals Disturbance Compensating Control of a Biped Walking Machine Based on Reflex Motions

2001 ◽  
Vol 44 (3) ◽  
pp. 724-730 ◽  
Author(s):  
Hiroaki FUNABASHI ◽  
Yukio TAKEDA ◽  
Shigenari ITOH ◽  
Masaru HIGUCHI
Keyword(s):  
Biped Walking ◽  
Walking Machine

Inverse kinematics and inverse dynamics for control of a biped walking machine

1993 ◽  
Vol 10 (4) ◽  
pp. 531-555 ◽  
Author(s):  
Ching-Long Shih ◽  
William A. Gruver ◽  
Tsu-Tian Lee
Keyword(s):  
Inverse Kinematics ◽  
Inverse Dynamics ◽  
Biped Walking ◽  
Walking Machine

Locomotion pattern generation and mechanisms of a new biped walking machine

2007 ◽  
Vol 464 (2089) ◽  
pp. 273-288 ◽  
Author(s):  
Hun-ok Lim ◽  
Y Ogura ◽  
Atsuo Takanishi
Keyword(s):  
Lower Limb ◽  
Humanoid Robot ◽  
Pattern Generation ◽  
Dynamic Walking ◽  
Joint Angles ◽  
Singularity Problem ◽  
Biped Walking ◽  
Walking Machine ◽  
Object A ◽  
Locomotion Pattern

This paper describes the mechanism of a 16 d.f. biped walking machine, Waseda biped humanoid robot-2 lower limb (WABIAN-2LL), which has two 7 d.f. legs and a 2 d.f. waist actuated by DC servo motors with reduction gears. WABIAN-2LL is designed with large movable angle ranges like those of a human. Its height and weight are 1200 mm and 40 kg, respectively. It is able to walk with its knees stretched using the redundancy of the legs and to move around an object using a hip-bending motion without touching the object. A knee-stretched locomotion pattern generation is also proposed in this paper, which separately creates joint angles in a supporting and a swinging phase. During knee-stretched walking, the joint rate of the knee will approach infinitely when the knee is stretched. This singularity problem is solved by using the motion of the waist, not the posture of the trunk. The effectiveness of the mechanisms and pattern generations of WABIAN-2LL is verified through dynamic walking experiments.

scholarly journals THE INVESTIGATION ON THE BIPED WALKING MACHINE SYSTEM

Biomechanisms ◽  
1982 ◽  
Vol 6 (0) ◽  
pp. 252-260 ◽  
Author(s):  
Takaaki KATO ◽  
Atsuo TAKANISHI ◽  
Hiroshi ISHIKAWA ◽  
Ichiro KATO
Keyword(s):  
Biped Walking ◽  
Walking Machine ◽  
Machine System

238 Passive Biped Walking Machine with Sub-System Modeled after an Upper Body

2007 ◽  
Vol 2007 (0) ◽  
pp. _238-1_-_238-6_
Author(s):  
Tomoyuki FUKUSHIMA ◽  
Yutaka KURITA ◽  
Yuichi MATSUMURA
Keyword(s):  
Upper Body ◽  
Biped Walking ◽  
Walking Machine
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