DocumentCode
2974255
Title
3D fast walking simulation of biped robot by yaw axis moment compensation
Author
Hanamiya, Daisuke ; Kawamura, Atsuo
Author_Institution
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan
fYear
2004
fDate
25-28 March 2004
Firstpage
403
Lastpage
407
Abstract
The waist twisting is proposed to increase the walking speed without the arm swinging, and the control algorithm is verified by the 3D simulator ROCOS. The highest walking speed is increased from 3.6[km/h] with the arm swinging to 4.0 [km/h] with the waist twisting. The proposed control was also verified by the biped walking robot MARI-1.
Keywords
digital simulation; legged locomotion; position control; 3.6 km/h; 3D fast walking simulation; 3D simulator ROCOS; 4.0 km/h; biped walking robot MARI-1; control algorithm; waist twisting; yaw axis moment compensation; Computational modeling; Computer simulation; Foot; Ground support; Laboratories; Leg; Legged locomotion; Lighting control; Performance analysis; Robot kinematics;
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.2004.1297903
Filename
1297903
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