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Research Objectives: Fast and stable walking of biped robot.

Specification：

  • Height：120cm; weight：25kg
  • 6 DOF for 1 leg, 1 DOF for 1 arm. Total: 14 DOF
  • Gyro sensor at body center
  • ZMP sensor and force sensor installable in sole
  • Control via DSP
    Detail is here
A autonomously biped robot embedded everything except power supply.
Currently two problems are focused, stable walking with on-line ZMP control and adaptive motion with visual feedback. The robot has flexible extensionality with combination of functional boards.

Specification：

  • Height: 130cm; Weight: 70kg
  • 6 DOF for 1 leg, total: 12 DOF, i.e., 12 AC servo motors and their encoders.
  • Motor control via servo pack.
  • Control with RT-Linux (PC)

Detail is here
ROCOS is a precisely dynamic simulator considering the collision and friction with floor.
To implement fast and stable walking of legged robot, various approaches are being explored with ROCOS.

Research Problems：

  • Yaw moment compensation by arm swing
  • On-line ZＭＰ control
  • Jump, running

Detail is here

ZMP sensing unit developed with FSR (Force Sensing Resistor).
It is already used in MARI-2 and MARI-1 to implement stable walking by on-line ZMP control. It also can be used to analyze human's walking and therefore fertilize the motion of walking robot by applying the analyzed result.

Detail is here
To: Past Robot Page (Japanese Only)