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Quasi-human biped walking

Published online by Cambridge University Press:  31 October 2005

Hun-ok Lim ,
Sang-ho Hyon ,
Samuel A. Setiawan  and
Atsuo Takanishi
Hun-ok Lim
Affiliation:
Department of Mechanical Engineering, Kanagawa University 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama, 221-8686 (Japan). Humanoid Robotics Institute, Waseda University (Japan).
Sang-ho Hyon
Affiliation:
Department of Mechanical Engineering, Waseda University (Japan).
Samuel A. Setiawan
Affiliation:
Department of Mechanical Engineering, Waseda University (Japan).
Atsuo Takanishi
Affiliation:
Humanoid Robotics Institute, Waseda University (Japan). Department of Mechanical Engineering, Waseda University (Japan).
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Abstract

Our goal is to develop biped humanoid robots capable of working stably in a human living and working space, with a focus on their physical construction and motion control. At the first stage, we have developed a human-like biped robot, WABIAN (WAseda BIped humANoid), which has a thirty-five mechanical degrees of freedom. Its height is 1.66 [m] and its weight 107.4 [kg]. In this paper, a moment compensation method is described for stability, which is based on the motion of its head, legs and arms. Also, a follow walking method is proposed which is based on a pattern switching technique. By a combination of both methods, the biped robot is able to perform dynamic stamping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. Using WABIAN, human-fellow walking experiments are conducted, and the effectiveness of the methods are verified.

Keywords

InteractionHuman-follow walkingCompensatory motionWalking patternPattern synthesis
Type
Article
Information
Robotica , Volume 24 , Issue 2 , March 2006 , pp. 257 - 268
Copyright
2005 Cambridge University Press

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