2足歩行機械の3D揺動歩容

Translated title of the contribution: The Sway Compensation Trajectory for a Biped Robot

倉爪 亮, 米田 完, 田中 俊太郎, 玉木 達也, 太田 祐介, 長谷川 勉

Research output: Contribution to journalArticle

Abstract

From 1970's, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed "the sway compensation trajectory". This method utilizes a lateral, longitudinal, and vertical motion of a robot body to keep a zero moment point (ZMP) on a diagonal line between support legs. In this paper, we develop the sway compensation trajectory for a biped robot, and show that dynamically stable walking is realized. This method makes it quite easy to design stable ZMP and COG (center of gravity) trajectories, which have been regarded as a very complicated and delicate problem. The effectiveness of the proposed method is verified through computer simulations and walking experiments by a humanoid robot HOAP-1, and YANBO-3.
Translated title of the contributionThe Sway Compensation Trajectory for a Biped Robot
Original languageJapanese
Pages (from-to)811-818
Number of pages8
Journal日本ロボット学会誌
Volume21
Issue number7
DOIs
Publication statusPublished - Oct 15 2003

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    倉爪亮, 米田完, 田中俊太郎, 玉木達也, 太田祐介, & 長谷川勉 (2003). 2足歩行機械の3D揺動歩容. 日本ロボット学会誌, 21(7), 811-818. https://doi.org/10.7210/jrsj.21.811