A new humanoid robot-WABIAN-2- that can be used as a human motion simulator is proposed in this paper. Its trunk designed order to permit rotation, and forward, backward, sideway movement. Further, its arms are support complete weight when pushing walk-assist machine. Moreover, it lean on machine by forearm control using motion. Basic walking experiments with WABIAN-2 conducted without machine, thereby confirming effectiveness

A humanoid robot, WABIAN-2R, capable of human-like walk with stretched knees and heel-contact toe-off motions is proposed in this paper. WABIAN-2R has two 1-DOF passive joints its feet to enable it bend toes steady walking. Further, 6-DOF legs, a 2-DOF pelvis, trunk, 7-DOF arms 3-DOF hands, neck. In addition, new algorithm for generating walking patterns based on the ZMP criterion described. pattern generation, some parameters foot trajectories biped robot are optimized by using genetic...

This paper describes an online method generating walking patterns for biped humanoid robots having a trunk. Depending on the command, motion of lower-limbs are created and connected to prewalking smoothly in online. For stability robots, trunk waist is generated by stabilization control that based ZMP trajectory lower-limbs. Experimental tests versatile plane surface conducted using auditory interface, validity pattern generation verified.

Almost all conventional biped humanoid robots have difficulties in realizing various walking motions such as knee stretch like a human because of an insufficiency DOF. Therefore, we developed 16-DOF robot without trunk: 3-DOF each ankle, 1-DOF knee, hip and 2-DOF the waist. Using robot, basic experiments are conducted effectiveness leg mechanism is confirmed.

This paper describes the means of tuning-up method walking parameters to go up and down stairs for a biped robot with leg mechanisms using Stewart platforms. It has been confirmed that stroke range use could be reduced by tuning waist yaw trajectory preset ZMP trajectories motion pattern generation. By developed method, experiment involving movement stair rise 250 mm certain experiments ascending descending carrying human were successfully completed. Through these experiments, effectiveness...

The humanoid robot, WABIAN-2R, has achieved human-like walking with knee-stretched, heel contact and toe off motions by using a foot mechanism passive joint. However, the structure is different from human's. In this paper, we describe new capable of mimicking human's arch to figure out function structure. Especially, developed mimics elastic properties change height during walking. consists joint in internal toe, external arch. We conducted several experiments clarified quantitatively. As...

We would like to give robots the ability secure human safety in human-robot collisions capable of arising our living and working environments. However, unfortunately, not much attention has been paid technologies robot symbiosis date because almost all have designed constructed on assumption that are physically separated from humans. A with a new concept will be required deal contact. In this article, we propose passively movable human-friendly consists an elastic material-covered...

This paper describes the mechanism of biped locomotor, WL-16 (Waseda Leg No. 16), its compliance control method and experiments carrying a human. robot is developed based on WL-15's basic design using new gimbals' mechanisms with small backlash linear actuators dealing heavy payload wide movable range. Walking human are successfully completed effectiveness WL-16's confirmed.

The development of 3D object detectors for dealing with point clouds generated by LiDAR sensors is facing a significant challenge in real‐world autonomous driving scenarios. Current research mainly focuses on Voxel‐based detectors, which use sparse convolution training and inference. These models often require substantial computational resources training, making them hard to be applied real vehicles. Among these models, two called PointPillars CenterPoint (pillar‐version) are noticed since...

This paper describes the design of a battery driven bipedal robot, which uses 6-DOF parallel mechanisms for its each leg. We have designed this considering robot as leg module that is sufficient practical use multi-purpose locomotor system. applicable to various fields, such medical, welfare and entertainment. In we reduced weight maximum extent, taking advantage features mechanism where rigidity high. Using developed locomotor, dynamic walking with step time 0.96 sec/step length 0.2 m/step...

This paper describes a method of motion pattern generation for biped humanoid robot to walk like humans or with various kind motions. To realize walking avoiding singularity at stretching leg, uses predetermined knee joint trajectories. Reduction DOF by predetermination is complemented waist motion. The effectiveness generated dynamic patterns confirmed using 16-DOF WABIAN-2/LL.

Describes a locomotion control for biped humanoid robots based on balance and impedance control. The is employed during whole walking cycle, which can compensate the moments generated by walking. In control, compensatory motion of trunk waist calculated from trajectories lower-limbs, arms, head ZMP. parameters are adjusted in real-time according to gait phase. large damping coefficient applied landing leg absorb impact/contact force contact phase, while stiffness given increase momentum...

This paper describes a fast turning method for humanoid robot by using slipping motion with both feet. The robot, WABIAN-2R, has achieved human-like walking heel contact and toe off motions foot mechanism passive joint. enables to turn between the feet ground because it can switch conditions such as contact, sole contact. To realize turn, we develop an attitude control. Verification of proposed is conducted through experiments biped WABIAN-2R. WABIAN-2R realized quick We also confirmed that...

This paper describes a walking stabilization control on soft ground based gait analysis for humanoid robot. There are many researches hard ground, but few scientists analyze the ability of human beings ground. Therefore, we conducted anthropometric measurement using motion capture system By analyzing experimental data, obtained two findings. The first finding is that although there no significant differences in step width and length, height tends to increase avoid collision between feet...

Abstract This paper describes position-based impedance control for biped humanoid robot locomotion. The parameters of the leg are adjusted in real-time according to gait phase. In order reduce impact/contact forces generated between contacting foot and ground, damping coefficient landing is increased largely during first half double support last phase, walking pattern changed by returned desired using a polynomial. Also, large stiffness given increase momentum reduced viscosity single For...

This paper describes the knee stretch walking of biped robot that has three degrees freedom (DOF) in ankle, one DOF and hip. To create stable pattern, a pattern generation method capable specifying arbitrarily joint angle is introduced. The motion waist avoids singularity swing leg can exist single support phase. A compensatory algorithm to cancel moments generated by lower-limbs calculates motion. Through simulations, effectiveness confirmed.

Many researchers have been studied on acceleration control algorithms for biped robots to deal with uneven terrain. However, the are difficult be used human-carrying walking because of modeling errors. In this paper, a landing pattern modification method is proposed which based nonlinear compliance control. Theoretical displacements calculated from compared actual displacements, while robot's foot touches slightly result, height terrain detected, and preset modified. Using method, robot...

This paper describes an experimental method for evaluating the stiffness of a biped walking robot. A reliable procedure is proposed as based on simplified version Milli-CaTraSys (Milli Cassino Tracking System) with three wire encoders and two six-axis force-torque sensors. measures both applied wrench resulting compliant displacements. Experiments conducted prototype vehicle WL-16RII (Waseda Leg - No. 16 Refined II) under different dynamic conditions provided useful information design control.

This paper addresses a compensatory motion control algorithm of biped robot to deal with stable dynamic walking on even or uneven terrain. consists three main parts; the introduction virtual plane consider ZMP (Zero Moment Point); an iteration compute trunk motion; and program realize walking. The is defined as formed by support points between surface terrain soles. In order obtain capable compensating for moments produced lower-limbs during walking, equation computed using method. Also,...

This paper describes a walking stabilization control based on gait analysis for biped humanoid robot. We have developed human-like foot mechanism mimicking the medial longitudinal arch to clarify function of structure. To evaluate through experiments using robot, should also be designed analysis. Physiologists suggest ankle, hip and stepping strategies, but these strategies are proposed by measuring human beings who not "walking" "standing" against force disturbances. Therefore, first we...

This paper describes stability control for a biped humanoid robot. The consists of ZMP compensation and inverted pendulum the robot to walk stably on ground. compensates displacement waist according ZMP, accelerates falling direction Also, whole motion pattern generation based preview is developed. It enables with arm swings. According walking parameters, angles body are calculated by inverse kinematics. In order verify effectiveness method, simulation conducted using Adams MATLAB/Simulink.

Humanoid robots are expected to play a major role in the future of space and planetary exploration. robot features could have many advantages, such as interacting with astronauts ability perform human tasks. However, challenge developing is quite high due difficulties. One main difficulties difference gravity. Most researchers field bipedal locomotion not paid much attention effect Gravity an important parameter generating trajectory. This research investigates gravity on walking motion. It...

Many researchers have studied walking stability control for biped robots, most of which involve highly precise acceleration controls based on robot model mechanics. Modeling error, however, makes the algorithms used difficult to apply robots intended transport human users. The “landing pattern modification method” we propose is nonlinear admittance control. Theoretical compliance displacement calculated from patterns compared actual displacement, when a robot's foot contacts slightly uneven...