Experimental approach for high speed walking of biped robot MARI-1

Author

Zhu, Chi ; Okamura, Mikio ; Kawamura, Atsuo ; Tomizawa, Yoshihito

Author_Institution

Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan

fYear

2004

fDate

25-28 March 2004

Firstpage

427

Lastpage

432

Abstract

In this paper, a biped robot MARI-1 developed in our laboratory, which is light and for the purpose of fast walking, is introduced. The hardware including the robot frame, actuators, sensors, and control system are described. The method of walking pattern generation is presented. For the aim of fast walking, walking pattern modification with ZMP feedback, two control approaches of yaw-axis moment compensation by torso swing, are respectively discussed. The proposed approaches are experimentally confirmed and a walking speed 1.46[km/h] is achieved.

Keywords

actuators; angular velocity control; feedback; legged locomotion; position control; sensors; 1.46 km/h; angular velocity control; biped robot MARI-1; high speed walking robot; position control; robot actuators; robot frame; robot sensors; torso swing; walking pattern generation; walking pattern modification; yaw axis moment compensation; zero moment point feedback; Actuators; Control systems; Feedback; Hardware; Laboratories; Legged locomotion; Robot sensing systems; Sensor phenomena and characterization; Sensor systems; Torso;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on

Print_ISBN

0-7803-8300-1

Type

conf

DOI

10.1109/AMC.2004.1297907

Filename

1297907