Book ChapterDOI
Realization of Dynamic Biped Walking Stabilized with Trunk Motion Under Known External Force
Atsuo Takanishi,M. Tochizawa,T. Takeya,H. Karaki,Ichiro Kato +4 more
- pp 299-310
TLDR
In 1984, the authors succeeded in attaining dynamic walking on a flat floor using a biped walking robot, WL-10RD, and accomplished the ascending and descending of stairs and slight inclines using the same robot.Abstract:
In 1984, the authors succeeded in attaining dynamic walking on a flat floor using a biped walking robot, WL-10RD. The walking lasted 1.3[sec] with a 0.4[m] step. Moreover, in 1985, the authors accomplished the ascending and descending of stairs and slight inclines using the same robot.read more
Citations
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Proceedings ArticleDOI
Development of a biped walking robot compensating for three-axis moment by trunk motion
TL;DR: A control method of dynamic bipedwalking for a biped walking robot to compensate for the three-axis (pitch, roll and yaw-axis) moment on an arbitrary planned ZMP by trunk motion is introduced.
Book
Robots and Biological Systems: Towards a New Bionics?
TL;DR: A model of Human Feature Detection Based on Matched Filters and the Role of Materials in Designing Nerve Guidance Channels and Chronic Neural Interfaces for Direct Man/Machine Communication are presented.
Journal ArticleDOI
Robust Sliding-mode Control Applied to a 5-Link Biped Robot
TL;DR: This paper provides a full derivation of the biped dynamic model (single-leg support phase, biped-in-the-air phase) and an outline of the computed torque and sliding mode control algorithms.
Proceedings ArticleDOI
Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface
TL;DR: This control method is based on the introduction of a new concept called a virtual surface, to consider the ZMP (zero moment point) on an uneven surface, and the main algorithm for computing the trunk motion which compensates for lower-limbs motion and time trajectory of the arbitrarily planned ZMP on the virtual surfaces.
Proceedings ArticleDOI
A control method for dynamic biped walking under unknown external force
TL;DR: The result shows that the WL-12RIII realized a 0.64(s/step) dynamic stepping motion under an unknown external force which was rectangular and acting backward on its waist.
References
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Journal ArticleDOI
On the Stability of Biped Locomotion
TL;DR: The stability of legged machines in locomotion is considered and general machine has a rigid body to which legs are attached.
Journal ArticleDOI
The Realization of Dynamic Walking by the Biped Walking Robot WL-10 RD
TL;DR: It is confirmed that the WL-10RD will be available for sale in June 2017.
Journal ArticleDOI
The finite Fourier transform
TL;DR: In this paper, the finite Fourier transform of a finite sequence is defined and its elementary properties are developed, and the convolution and term-by-term product operations are defined and their equivalent operations in transform space.