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A survey report for the biped locomotion robot compensating three-axis moment

Technical Report:

Abstract

A dynamic walking simulation of biped locomotion robots based on the Zero Moment Point (ZMP) criterion is being conducted at JAERI. The ZMP criterion to obtain the stable walking patterns is that respective sums of moments around pitch-axis and roll-axis which act on the robot are equal to zero. So far, as for the rest moment around yaw-axis, the moment is balanced to frictional force, assuming that the frictional force between robot`s sole and floor is sufficiently large in our study. According to a recent paper, however, slipping around yaw-axis between robot`s sole and floor has occurred as the walking speed becomes faster, and the slipping has made the walking unstable. So influence of this moment can not be ignored for the fast walking. A survey has been performed for collecting relevant information from already existing biped locomotion robots. This is a survey report for the biped locomotion robot compensating three-axis moment by a trunk motion: the WL-12RV designed and developed at Waseda University. The WL-12RV has been realized 1.5 times as fast as dynamic walking compared with a biped locomotion robot compensating two-axis moment (e.g. WL-12RIV). This report includes the machine model, control method and results of walking experiments  More>>
Authors:
Kato, Ichiro; Takanishi, Atsuo; [1]  Kume, Etsuo
  1. Waseda Univ., Tokyo (Japan)
Publication Date:
Oct 01, 1994
Product Type:
Technical Report
Report Number:
JAERI-Tech-94-020
Reference Number:
SCA: 420203; PA: JPN-94:011246; EDB-95:009247; SN: 95001296280
Resource Relation:
Other Information: PBD: Oct 1994
Subject:
42 ENGINEERING; ROBOTS; VELOCITY; MECHANICS; MOTION; FRICTION; SLIP; STABILITY; CONTROL SYSTEMS; SIMULATION; PERFORMANCE TESTING; 420203; HANDLING EQUIPMENT AND PROCEDURES
OSTI ID:
10102334
Research Organizations:
Japan Atomic Energy Research Inst., Tokyo (Japan)
Country of Origin:
Japan
Language:
Japanese
Other Identifying Numbers:
Other: ON: DE95722088; TRN: JP9411246
Availability:
OSTI; NTIS; INIS
Submitting Site:
JPN
Size:
45 p.
Announcement Date:
Jun 30, 2005

Technical Report:

Citation Formats

Kato, Ichiro, Takanishi, Atsuo, and Kume, Etsuo. A survey report for the biped locomotion robot compensating three-axis moment. Japan: N. p., 1994. Web.
Kato, Ichiro, Takanishi, Atsuo, & Kume, Etsuo. A survey report for the biped locomotion robot compensating three-axis moment. Japan.
Kato, Ichiro, Takanishi, Atsuo, and Kume, Etsuo. 1994. "A survey report for the biped locomotion robot compensating three-axis moment." Japan.
@misc{etde_10102334,
title = {A survey report for the biped locomotion robot compensating three-axis moment}
author = {Kato, Ichiro, Takanishi, Atsuo, and Kume, Etsuo}
abstractNote = {A dynamic walking simulation of biped locomotion robots based on the Zero Moment Point (ZMP) criterion is being conducted at JAERI. The ZMP criterion to obtain the stable walking patterns is that respective sums of moments around pitch-axis and roll-axis which act on the robot are equal to zero. So far, as for the rest moment around yaw-axis, the moment is balanced to frictional force, assuming that the frictional force between robot`s sole and floor is sufficiently large in our study. According to a recent paper, however, slipping around yaw-axis between robot`s sole and floor has occurred as the walking speed becomes faster, and the slipping has made the walking unstable. So influence of this moment can not be ignored for the fast walking. A survey has been performed for collecting relevant information from already existing biped locomotion robots. This is a survey report for the biped locomotion robot compensating three-axis moment by a trunk motion: the WL-12RV designed and developed at Waseda University. The WL-12RV has been realized 1.5 times as fast as dynamic walking compared with a biped locomotion robot compensating two-axis moment (e.g. WL-12RIV). This report includes the machine model, control method and results of walking experiments of the WL-12RV. (author).}
place = {Japan}
year = {1994}
month = {Oct}
}