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2006 Fiscal Year Final Research Report Summary

Fast Walking and Running of Humanoid Biped Robot

Research Project

Project/Area Number 15206050
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionYokohama National University

Principal Investigator

KAWAMURA Atsuo  Yokohama National University, Faculty of Engineering, Division of Electrical and Computer Engineering, Professor, 大学院工学研究院, 教授 (80186139)

Co-Investigator(Kenkyū-buntansha) FUJIMOTO Yasutaka  Yokohama National University, Faculty of Engineering, Division of Electrical and Computer Engineering, Associate Professor, 大学院工学研究院, 助教授 (60313475)
ZHU Chi  Yokohama National University, Faculty of Engineering Division of Electrical and Computer Engineering, Research Associate, 大学院工学研究院, 助手 (20345482)
KAJITA Shuji  National Institute of Advanced Industrial Science and Technology, Intelligent Systems Research Institute, Chief Researcher, 知能システム研究部門, 主任研究員 (90356767)
Project Period (FY) 2003 – 2006
KeywordsBiped Humanoid Robot / Fast Walking / Running
Research Abstract

Aiming to implement fast walking and running, two kinds of robots, a planar one-leg jumping robot KEN-2, and a humanoid biped robot MARI-3 were developed. Stable biped walking, one-leg jumping, and two-leg jumping are implemented.
1.Planar One-Leg Jumping Robot KEN-2
Jumping can be considered as a basic element of biped running. KEN-2, a 3 DOF planar jumping robot, was developed. Its height is 800[mm] and its weight is 14.5[kg]. KEN-2 is considered as a combination of a spring and one mass point, and its detected force at the foot is controlled to be equal to that of the equivalent spring-mass model. A 4[cm] height, 100[ms] long one-leg jumping is achieved.
2.Biped Fast Walking and Running Robot MARI-3
Towards fast walking and running, a humanoid biped robot MARI-3 was developed. MARI-3 has totally 13 DOF, one DOF of waist joint in yaw axis, and 12 DOF for two legs, and each leg has 6 DOF. The height of MARI-3 is about 1216[mm] and its weight about 38[kg]. With MARI-3, a biped walking, one-leg and two-leg jumping were implemented as basic and verification experiments for fast walking and running. The validity of the robot was confirmed. The biped walking speed is 1.2[km/h]. MARI-3's one-leg jumping time (the time of MARI-3 in the air) is about 110[ms] and its jumping height is about 4[cm]. MARI-3's two-leg jumping time even reaches 150[ms]. As far as we know, that is the longest and highest jumping up to now in the world.

  • Research Products

    (12 results)

All 2007 2006 2004 2003

All Journal Article (11 results) Book (1 results)

  • [Journal Article] Humanoid Robots : Chapter : Bipedal Walking Pattern Design by Synchronizing the Motions in the Sagittal and Lateral Planes2007

    • Author(s)
      Chi Zhu, Atsuo Kawamura
    • Journal Title

      Advanced Robotic Systems International

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] Bipedal Walking Pattern Design by Synchronizing the Motions in the Sagittal and Lateral Planes - Effect of Double Support Phase in Whole Biped Walking2006

    • Author(s)
      Chi Zhu, Atsuo Kawamura
    • Journal Title

      電気学会論文誌D(産業応用部門誌) 126

      Pages: 1069-1078

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] Positioning in releasing manipulation by iterative learning control2006

    • Author(s)
      Chi Zhu, Yasumichi Aiyama, Tamio Arai, Atsuo Kawamura
    • Journal Title

      Journal of Intelligent & Robotic Systems 46

      Pages: 383-404

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] リリース型マニピュレーションにおける摩擦を有する滑り運動2006

    • Author(s)
      朱赤, 相山 康道, 新井 民夫, 河村篤男
    • Journal Title

      日本ロボット学会誌 24

      Pages: 140-151

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] Bipedal Walking Pattern Design by Synchronizing the Motions in the Sagittal and Lateral Planes-Effect of Double Support Phase in Whole Biped Walking,2006

    • Author(s)
      C.Zhu, A.Kawamura
    • Journal Title

      IEEJ Transaction on Industry Applications Vol.126, No.8

      Pages: 1069-1078

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] Characteristics of Frictional Sliding Motion in Releasing Manipulation2006

    • Author(s)
      Chi Zhu, Yasumichi Aiyama, Tamio Arai, Atsuo Kawamura
    • Journal Title

      Journal of Robotics and Mechatronics Vol.18, No.1

      Pages: 26-35

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] Characteristics Analysis of Frictional Sliding Motion in Releasing Manipulation2006

    • Author(s)
      Chi Zhu, Yasumichi Aiyama, Tamio Arai, Atsuo Kawamura
    • Journal Title

      Japan Robotics Vol.24

      Pages: 140-151

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] An Accurate Approach of Non-linearity compensation for VSI Inverter Output Voltage2004

    • Author(s)
      H.Zhao, QJ.Wu, A.Kawamura
    • Journal Title

      IEEE Transactions on Power Electronics 19

      Pages: 1029-1035

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] An Accurate Approach of Non-linearity compensation for VSI Inverter Output Voltage2004

    • Author(s)
      H.Zhao, Q.J.Wu, A.Kawamura
    • Journal Title

      IEEE Transactions on Power Electronics Vol.19, No.4

      Pages: 1029-1035

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] 二足歩行ロボットのつま先支持期のための重心・遊脚の位置・姿勢追従制御2003

    • Author(s)
      高橋太郎, 河村篤男
    • Journal Title

      電気学会論文誌D(産業応用部門誌) 123

      Pages: 1155-1160

    • Description
      「研究成果報告書概要(和文)」より
  • [Journal Article] Position and Attitude Control for Toe Support Phase of Biped Walking Robot2003

    • Author(s)
      T.Takahashi, A.Kawamura
    • Journal Title

      IEEJ Transaction on Industry Applications Vol.123, No.10

      Pages: 1155-1160

    • Description
      「研究成果報告書概要(欧文)」より
  • [Book] Humanoid Robots : Chapter : Bipedal Walking Pattern Design by Synchronizing the Motions in the Sagittal and Lateral Planes2007

    • Author(s)
      Chi Zhu, Atsuo Kawamura
    • Publisher
      Advanced Robotic Systems International
    • Description
      「研究成果報告書概要(和文)」より

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Published: 2008-05-27   Modified: 2021-12-14  

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