Biped walking robots created at Waseda University: WL and WABIAN family

Lim, Hun-ok; Takanishi, Atsuo

doi:10.1098/rsta.2006.1920

Cited by 71 publications

(39 citation statements)

References 17 publications

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“…There are other works [23], [24], [25], which deal with biped robots. However, most of them deal with robot architecture, waking generation or robot tracking.…”

Section: Related Workmentioning

confidence: 98%

A Knowledge Sharing P2P System between Robots Using JXTA-Overlay

Ogata

Spaho

Matsuo

et al. 2011

2011 International Conference on Complex, Intelligent, and Software Intensive Systems

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The design of an efficient collaborative multirobot framework that ensures the autonomy and the individual requirements of the involved robots is a very challenging task. This requires designing an efficient platform for inter-robot communication. P2P is a good approach to achieve this goal. P2P aims at making the communication ubiquitous thereby crossing the communication boundary and has many attractive features to use it as a platform for collaborative multi-robot environments. We have implemented a P2P system based on JXTA Overlay. In this paper, we use JXTA Overlay as a platform for robot collaboration and knowledge sharing. We evaluated the knowledge sharing system by many experiments. Experimental results have shown that the proposed system has a good performance and can be used successfully for knowledge sharing between robots.

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“…There are other works [23], [24], [25], which deal with biped robots. However, most of them deal with robot architecture, waking generation or robot tracking.…”

Section: Related Workmentioning

confidence: 98%

A Knowledge Sharing P2P System between Robots Using JXTA-Overlay

Ogata

Spaho

Matsuo

et al. 2011

2011 International Conference on Complex, Intelligent, and Software Intensive Systems

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“…The robot has 35 DOF. As one of its design purposes was to have physical interaction with humans through the hand, there was a 6-axis force/torque sensor installed in its wrist to allow the robot to dance with its human partner [39,70,71].…”

Section: Dancing Robotsmentioning

confidence: 99%

Towards the Development of Emotional Dancing Humanoid Robots

2009

Int J of Soc Robotics

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Throughout human civilization, dance has been considered to be a means of communication. With advances in Artificial Intelligence (AI) and Robot Technology (RT), it is now possible to create biped humanoid robots that can dance. This manuscript provides an overview of dancing robots that have been developed during the past 24 years. It then introduces several emotional flexible spine humanoid robots developed by the author. As part of the introduction, it presents the world's first humanoid robot that can exhibit dynamic walk with flexible spine motions. This is followed by a discussion on applications, some development issues and possible future directions of research related to dancing robots.

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“…Ichiro Kato and his successors from Waseda University, Japan designed and implemented several generations of bipeds using the ZMP principle -WL-series, WABOTseries, WABIAN-series (Lim and Takanishi, 2007). The Honda P-series culminating in the ASIMO (Sakagami et al, 2002;Honda, 2007) also used the ZMP approach.…”

Section: Gaits In Legged Locomotionmentioning

confidence: 99%

Investigations on Dynamics and Control of a Rimless Wheel based 2D Dynamic Walker using Pulsed Torque Actuation

Patnaik¹

2018

Preprint

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SYNOPSISWheeled systems are energy efficient on prepared surfaces like roads and tracks. Legged systems are capable of traversing different terrains but can be lossy. At low speeds and on off-road surfaces, legged systems using dynamic walking can be efficient. Towards this objective, the dynamics of the walker needs to be modelled and controlled. This thesis presents analysis and experiments on the dynamics and control of a rimless wheel based mobile robot (Chatur ) in a category between wheeled and legged systems. It is effectively a 2D dynamic walker that serves as a platform for investigating inverted pendulum walking. A pulsed actuation torque is proposed for the system resulting in four torque regimes defined by the ratio of energy losses to available actuator torque. Five physical constraints that limit the choice of operating points of a generic inverted pendulum walker are expounded and location of optimal operating points is discussed. Chatur's hardware design is elaborated and a control topology is proposed for pulsed actuation of the dual brushless dc (BLDC) motor driven platform with wheel synchronization.A closed-form analytical solution, using hyperbolic functions, is proposed for the stance phase inverted pendulum dynamics. Suitable models for ground impact and braking losses are used. There are four types of sub-phases within a stance phase -actuated rise, unactuated rise, actuated fall, unactuated fall. These are concatenated in four different ways to form repeating cycles yielding the four torque regimes that are identified by the fraction of stance phase for which the actuator is energized. The experimental set-up is a fixed step-angle walker built using two adjacent rimless wheels independently actuated at the hub. Varying the magnitude and duty ratio of the torque pulse, the proposed regimes are experimentally shown. The mechanical cost of transport is computed for different speeds. Videos of the walks are also taken.The operating point of an inverted pendulum walker can be specified by the combination of initial mid-stance velocity and step angle chosen for a given walk. Using basic mechanics, a framework of physical constraints that defines allowable operating points is presented. For any given speed, the optimal operating point with minimum mechanical power requirement is located based on tangency of the power and velocity contours. Repeating for different speeds, a family of optimal operating points, called the optimal locus, is obtained. Using an appropriate constant step angle over a range of speeds could lead to an inverted pendulum walker that is close to optimal.The hardware design for Chatur and the caveats associated with reliable performance of its mechanical and electrical subsystems are elaborated. In order to ensure lateral stability, the system uses two contralateral wheels driven by separate BLDC hub motors. From a motor drive perspective, the reflected load torque has a characteristic cyclic variation that repeats several times within a mechanical revolution. The proposed ...

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Biped walking robots created at Waseda University: WL and WABIAN family

Cited by 71 publications

References 17 publications

A Knowledge Sharing P2P System between Robots Using JXTA-Overlay

A Knowledge Sharing P2P System between Robots Using JXTA-Overlay

Towards the Development of Emotional Dancing Humanoid Robots

Investigations on Dynamics and Control of a Rimless Wheel based 2D Dynamic Walker using Pulsed Torque Actuation

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