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The realization of the Biped Walking Robot with the motion of the waist

Research Project

Project/Area Number 62550315
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 計測・制御工学
Research InstitutionFaculty of Engineering, Kumamoto University

Principal Investigator

KAWAJI Shigeyasu  Faculty of Engineering, Kumamoto University, 工学部, 教授 (30040421)

Co-Investigator(Kenkyū-buntansha) SHIOTSUKI Tetsuo  Faculty of Engineering, Kumamoto University, 工学部, 助手 (10162570)
Project Period (FY) 1987 – 1988
Project Status Completed (Fiscal Year 1988)
Budget Amount *help
¥1,700,000 (Direct Cost: ¥1,700,000)
Fiscal Year 1988: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 1987: ¥1,100,000 (Direct Cost: ¥1,100,000)
KeywordsBiped walking robot / motion control / inverse kinematics / rithm variables / walking robots / 実時間制御 / 運動学 / 逆運動学
Research Abstract

In this project we investigated the realization of the Biped Walking Robot with the motion of the waist. The robot which we designed has kinematic freedom only in the sagital plane and does not have the freedom of swing or spinning motion. Thus if we try to make it walking slowly it might fall down. In oeder to overcome the problem and to realize the walking in 3-D space we took notice of the characteristic rithm of mechanical systems and its inverse kinematics. By using thse ideas, the waking motion is realized, and the effectiveness is verified by the experiment.

Report

(3 results)
  • 1988 Annual Research Report   Final Research Report Summary
  • 1987 Annual Research Report
  • Research Products

    (4 results)

All Other

All Publications (4 results)

  • [Publications] 川路茂保,汐月哲夫: 日本ロボット学会誌.

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1988 Final Research Report Summary
  • [Publications] Shigeyasu KAWAJI; Tetsuo SHIOTSUKI: "The realization of Biped Walking Robot by using the rithm variables" Journal of the Robotics Society of JAPAN.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1988 Final Research Report Summary
  • [Publications] 川路茂保、汐月哲夫: 日本ロボット学会誌.

    • Related Report
      1988 Annual Research Report
  • [Publications] 川路茂保: 日本ロボット学会誌.

    • Related Report
      1987 Annual Research Report

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Published: 1987-04-01   Modified: 2016-04-21  

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