Dynamic biped walking stabilized with optimal trunk and waist motion

IEEE International Conference on Intelligent Robots and Systems

Volumn 1989-September, Issue , 1989, Pages 187-192

  Takanishi, A ^a   Tochizawa, M ^a   Karaki, H ^a   Kato, I ^a  

^a WASEDA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

MOBILE ROBOTS; TRAJECTORIES;

BIPED WALKING; BIPED WALKING ROBOTS; EXTERNAL FORCE; MAXIMUM FORCES; OPTIMAL TIME; PERFORMANCE INDICES; RELATIVE POSITIONS; WEIGHT COEFFICIENTS;

INTELLIGENT ROBOTS;

EID: 0001248425     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.1989.637905     Document Type: Conference Paper

References (5)

1. M. Vukobratovic, A. Frank, "On the Stability of Biped Locomotion", IEEE Trans, on Biomedical Engineering, Vol. BME-17, January 1970
2. Takanishi, A., Egusa, Y., Tochizawa, M., Takeya, T. and Kato, I., " Realization of Dynamic Biped Walking Stabilized with Trunk Motion", ROMANSY, 1988
3. Takanishi, A., Ishida, M., Yamazaki, Y. andKato, I., " The Realization of Dynamic Walking by the Biped Walking Robot WL-10RD", ICAR'85, 1985
4. Herbert Goldstein, "CLASSICAL MECHANICS", Addison-Wesley, 1980
5. J. W. Cooley, P. A. W. Lewis, P. D. Welch, "The Finite Fourier Transform", IEEE Trans. Audio and Electroacoustics, vol. AV-17, No. 2, pp. 77-85, June 1969