Paper Info
Title
Walking patterns and actuator specifications for a biped robot
Abstract
Since most conventional robots cannot easily be adapted to environments designed for humans, a human-size biped robot is expected to be able to play an important role in assisting human activities. The selection of suitable joint actuators is an important point when developing a human-size biped robot. In order to select suitable actuators and effectively utilize the selected actuators, it is necessary to clarify the relationship between walking patterns and the specifications of each joint actuator, and this is the issue tackled in the paper. First, a method of generating a high stability, smooth walking pattern is presented, and it is shown how various walking patterns can be produced by setting a series of defined walking parameters. Then, the dynamics of the robot, including the reaction force between the feet and the ground, are formulated. Finally, by simulation studies, the correlation found between actuator specifications and walking patterns is described, and the effectiveness of the proposed method is suggested
Year
DOI
Venue
1999
10.1109/IROS.1999.811685
IROS
Keywords
Field
DocType
joint actuators,robot dynamics,reaction force,high stability smooth walking pattern,actuator specifications,legged locomotion,actuators,digital simulation,human-size biped robot,human activities,humanoid robots,mobile robots,stability,ambient intelligence
Robot control,Simulation,Computer science,Reaction,Control engineering,Robot,Mobile robot,Humanoid robot,Actuator
Conference
Volume
ISBN
Citations 
3
0-7803-5184-3
1
PageRank 
References 
Authors
0.36
19
9
Name
Order
Citations
PageRank
Qiang Huang140632.56
Shuuji Kajita23008271.45
Noriho Koyachi345049.92
Kenji Kaneko42742212.93
kazuhito yokoit52321201.02
Tetsuo Kotoku640047.07
Hirohiko Arai758763.06
Kiyoshi Komoriya845379.16
kazuo tanie92105345.46