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Development of a Leg Part of a Humanoid Robot—Development of a Biped Walking Robot Adapting to the Humans' Normal Living Floor

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Abstract

The authors are engaged in studies of biped walking robots from thefollowing two viewpoints. One is a viewpoint as a human science. Theother is a viewpoint towards the development of humanoid robots.

In this paper, the authors introduce an anthropomorphic dynamic bipedwalking robot adapting to the humans' living floor. The robot has tworemarkable systems: (1) a special foot system to obtain the positionrelative to the landing surface and the gradient of the surfaceduring its dynamic walking; (2) an adaptive walking control system toadapt to the path surfaces with unknown shapes by utilizing theinformation of the landing surface, obtained by the foot system. Twounits of the foot system WAF-3 were produced, a biped walking robotWL-12RVII that had the foot system and the adaptive walking controlsystem installed inside it was developed, and a walking experimentwith WL-12RVII was performed. As a result, dynamic biped walkingadapting to humans' floors with unknown shapes was realized. Themaximum walking speed was 1.28 s/step with a 0.3 m step length, andthe adaptable deviation range was from -16 to+16 mm/step in the vertical direction, and from-3 to +3° in the tilt angle.

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Yamaguchi, J., Takanishi, A. Development of a Leg Part of a Humanoid Robot—Development of a Biped Walking Robot Adapting to the Humans' Normal Living Floor. Autonomous Robots 4, 369–385 (1997). https://doi.org/10.1023/A:1008858507550

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  • DOI: https://doi.org/10.1023/A:1008858507550

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