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 Type	Single-year Grants
Research Field	計測・制御工学
Research Institution	Faculty 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)
Keywords	Biped 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.