제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2003년도 ICCAS
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- Pages.197-202
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- 2003
Realization of Sensory-Based Biped Walking
- Lim, Hum-Ok (Department of System Design Engineering, Kanagawa Institute of Technology, Humanoid Robotics Institute, Waseda University) ;
- Yu, Ogura (Department of Mechanical Engineering, Waseda University) ;
- Takanishi, Atsuo (Department of Mechanical Engineering, Waseda University, Humanoid Robotics Institute, Waseda University)
- 발행 : 2003.10.22
초록
This paper describes realtime walking based on sensory information. In this study, a biped robot having a trunk is considered. The motion of the trunk balances the whole body of the biped robot while the legs locomotes on the ground. How to calculate the motion of the trunk is proposed using the ZMP concept. Also, an online walking pattern is discussed which is generated in realtime on the basis of walking parameters selected by visual and auditory sensors. In order to realize biped walking, we have constructed a forty-three degrees of freedom biped robot, WABIAN-RV (WAseda BIped humANoid robot-Revised V). Its height is 1.89[m] and its total weight is 131.4[kg]. Various walking experiments using WABIAN-RV are conducted on the plane, and the validity of its mechanism and control is verified.
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