TY - JOUR
T1 - Analysis of physical capability of a biped humanoid
T2 - Walking speed and actuator specifications
AU - Huang, Qiang
AU - Li, Kejie
AU - Nakamura, Yoshihiko
AU - Tanie, Kazuo
PY - 2001
Y1 - 2001
N2 - The reliability of stable walk and the development of high performance components are two crucial issues to develop a humanoid with human-like physical capability. In order to for the humanoid to walk smoothly and to adapt to unknown environments, we first propose a balance control that combines a feedforward dynamic pattern and a feedback sensory reflection. Then, we present a method for clarifying the relationship between the physical capability and actuator's specifications. Using this method, it is possible to predict the walking speed based on known actuator specifications and to obtain the necessary specifications to accomplish a desired walking speed. Finally, experiments of an 26 DOF humanoid and simulation examples are provided to illustrate the effectiveness of the proposed method.
AB - The reliability of stable walk and the development of high performance components are two crucial issues to develop a humanoid with human-like physical capability. In order to for the humanoid to walk smoothly and to adapt to unknown environments, we first propose a balance control that combines a feedforward dynamic pattern and a feedback sensory reflection. Then, we present a method for clarifying the relationship between the physical capability and actuator's specifications. Using this method, it is possible to predict the walking speed based on known actuator specifications and to obtain the necessary specifications to accomplish a desired walking speed. Finally, experiments of an 26 DOF humanoid and simulation examples are provided to illustrate the effectiveness of the proposed method.
UR - https://www.scopus.com/pages/publications/0035560353
U2 - 10.1109/IROS.2001.973367
DO - 10.1109/IROS.2001.973367
M3 - Article
AN - SCOPUS:0035560353
SN - 2153-0866
VL - 1
SP - 253
EP - 258
JO - IEEE International Conference on Intelligent Robots and Systems
JF - IEEE International Conference on Intelligent Robots and Systems
ER -