Biped walking robots created at Waseda University: WL and WABIAN family-Reference-Cited by-同舟云学术

Biped walking robots created at Waseda University: WL and WABIAN family

Published:2006-11-17 Issue:1850 Volume:365 Page:49-64
ISSN:1364-503X
Container-title:Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences
language:en
Short-container-title:Phil. Trans. R. Soc. A.

Author:

Lim Hun-ok¹²,Takanishi Atsuo²

Affiliation:

1. Department of Mechanical Engineering, Faculty of Engineering, Kanagawa University3-27-1 Rokkakubashi, Kanagawaku, Yokohama 221-8686, Japan

2. Department of Mechanical Engineering, Humanoid Robotics Institute, Waseda University3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan

Abstract

This paper proposes the mechanism and control of the biped humanoid robots WABIAN-RIV and WL-16. WABIAN-RIV has 43 mechanical degrees of freedom (d.f.): 6 d.f. in each leg, 7 d.f. in each arm, 3 d.f. in each hand, 2 d.f. in each eye, 4 d.f. in the neck and 3 d.f. in the waist. Its height is about 1.89 m and its total weight is 127 kg. It has a vision system and a voice recognition system to mimic some of the capabilities of the human senses. WL-16 consists of a pelvis and two legs having six 1 d.f. active linear actuators. An aluminium chair is mounted on two sets of its telescopic poles. To reduce the large support forces during the support phase, a support torque reduction mechanism is developed, which is composed of two compression gas springs with different stiffness. For the stability of the robots, a compensatory motion control algorithm is developed. This control compensates for moments generated by the motion of the lower limbs, using the motion of the trunk and the waist that is obtained by the zero moment point concept and fast Fourier transform. WABIAN-RIV is able to walk forwards, backwards and sideways, dance, carry heavy goods and express emotion, etc. WL-16 can move forwards, backwards and sideways while carrying an adult weighing up to 60 kg.

Publisher

The Royal Society

Subject

General Physics and Astronomy,General Engineering,General Mathematics

Link

https://royalsocietypublishing.org/doi/pdf/10.1098/rsta.2006.1920

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