The paper presents a dynamic control system for the walking robot which is a complex structure of a hexapod walking robot, having six degrees of freedom for each leg of the three degrees of movement for positioning and three degrees of movement to paw foot orientation. Issues for direct and inverse kinematics of the walking robots structure are analyzed, determining the joints coordinates of th...

We describe the design, construction and control of a quadruped robot which walks on uneven terrain. A control system which produces a statically stable gait has been implemented; results showing a straight and turning gait are presented. The control of quadruped robots poses interesting challenges due to a small stability margin (when compared to hexapods for example). For this reason most imp...

This paper deals with the real-time stable walking for a humanoid robot, ISHURO-II, on uneven terrain. A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the...

Autonomous walking bipedal machines, possibly useful for rehabilitation and entertainment purposes, need a high energy efficiency, offered by the concept of ‘Passive Dynamic Walking’ (exploitation of the natural dynamics of the robot). 2D passive dynamic bipeds have been shown to be inherently stable, but in the third dimension two problematic degrees of freedom are introduced: yaw and roll. We...

This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, we developed the bipedal humanoid robot WABIAN (WAseda BIpedal humANoid), and proposed a control method for dynamic cooperative biped walking[1]. In this paper, we presented a follow-walking control method ...

Visual attention is one of the most important issues for a vision guided mobile robot. Methods have been proposed for visual attention control based on information criterion[3, 4]. However, the robot had to stop walking for observation and decision. This paper presents a method which enables observation and decision more efficiently and adaptively while it is walking. The method uses the expect...

Recently, a lot of researches which aim at realization of dynamic biped walking are being performed. There is Honda's ASIMO as a representative of researches of humanoid robots. ASIMO has joints of many degrees of freedom that are near to a human being, high environment adaptability and robustness, and can do various performances. However, it needs many sensors, complicated control, and walks w...