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Development of a Biped Walking Robot Adapting to the Real World

Realization of Dynamic Biped Walking Adapting to the Humans’ Living Floor

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ROMANSY 11

Part of the book series: International Centre for Mechanical Sciences ((CISM,volume 381))

Summary

In this paper, the authors introduce an anthropomorphic dynamic biped walking robot adapting to the humans’ living floor. The robot has two remarkable systems: (1) a special foot system to obtain the position relative to a landing surface and the gradient of the surface during its dynamic walking; (2) an adaptive walking control system to adapt to the path surfaces with unknown shapes by utilizing the information of landing surface, obtained by the foot system. Two units of the foot system WAF-3 were produced, a biped walking robot W L-12RVII that had the foot system and the adaptive walking control system installed inside it was developed, and a walking experiment with WL-12RVII was performed. As a result, dynamic biped walking adapting to humans’ living floor with unknown shape was realized. The maximum walking speed was 1.28 s/step with a 0.3m step length, and the adaptable deviation range was from −16 to +16mm/step in the vertical direction, and from −3 to +3° in the tilt angle.

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References

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Author information

Authors and Affiliations

  1. Waseda University, Tokyo, Japan

    J. Yamaguchi & A. Takanishi

Authors
  1. J. Yamaguchi
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  2. A. Takanishi
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Editor information

Editors and Affiliations

  1. Inst. of Aeronautics and Appl. Mech., Warsaw University of Technology, Nowowiejska 24, 00-665, Warszawa, Poland

    Adam Morecki  & Cezary Rzymkowski  & 

  2. CISM, Palazzo del Torso, Piazza Garibaldi 18, 33100, Udine, Italy

    Giovanni Bianchi

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© 1997 Springer-Verlag Wien

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Yamaguchi, J., Takanishi, A. (1997). Development of a Biped Walking Robot Adapting to the Real World. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) ROMANSY 11. International Centre for Mechanical Sciences, vol 381. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2666-0_17

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  • DOI: https://doi.org/10.1007/978-3-7091-2666-0_17

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-211-82903-5

  • Online ISBN: 978-3-7091-2666-0

  • eBook Packages: Springer Book Archive

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