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Mechanism and Control of Anthropomorphic Biped Robots InTech
Hun-ok Lim; Atsuo Takanishi.
The mechanism of a 43 DOF biped humanoid robot WABIAN-RII was described to simulate human motions was described. For the humanoid robot to walk stably on various terrains, its functions should be separated. Its waist and trunk carries out the function of stability, while its legs work out the function of the locomotion. A locomotion pattern generation was discussed which used a polynomial. In the pattern generation, the direction of the walking and the length of the step can be determined by visual and auditory information. Also, a moment compensation control was presented to balance its body, which was based on the motion of the waist and trunk. In addition, an impedance control method was discussed to absorb the impact/contact forces generated between...
Tipo: 16 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/mechanism_and_control_of_anthropomorphic_biped_robots
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