STM Journals Peer-reviewed research from Consortium e-Learning Network

Trends in Machine design

Kinetic study of a bipedal humanoid robot and mode of the spherical inverted pendulum

  1. Richa .

Abstract

Studies on an anthropomorphic biped walking robot have led to the expectation that a bipedal humanoid robot will actively participate in human living environments. The authors created the human-size 35 active DOF bipedal humanoid robot "WABIAN" and the human-size 41 active DOF bipedal humanoid robot "WABIAN-R" as the initial step in creating a bipedal humanoid robot. The authors also put forth a fundamental method of controlling whole-body cooperative dynamic biped walking that makes use of trunk or trunk-waist cooperative motion to counteract the three-axis (pitch, roll, and yaw-axis) moment produced by both arbitrarily planned lower-limb motion and arbitrarily planned time trajectories for the hands. It is possible to perform dynamic dance, waving arms and hips, dynamic load carrying utilising its arms, and trunk-waist cooperative dynamic walking using these systems and the control mechanism

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