1G2-3 Light-Load Walking, Running and Rising-up of Humanoid Biped Robot GENBE Based on the Distributed Control of Physical Body

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  • 1G2-3 人間型二足ロボット「源兵衛」による身体に負担の少ない歩行・走行・起き上がり(医療福祉ロボットI,一般講演)

Abstract

In the previous paper, we realized the simple self-sustained humanlike robust walking & running NANBA of humanoid biped robot GENBE based on distributed control of physical body in a martial art utilizing instability without ZMP (Zero Moment Point) control, which uses only small active power with simple chaotic limit cycle utilizing instability, further developing into autonomous walking, runnung, instantaneous turn and the simple autonomous shock avoidance during falling down and instantaneous rising up. Instability makes the natural movement. This paper introduced experimentally the robustness of humanoid biped robot GENBE who walks and runs everywhere even on the ice and snow, developing to the rising up with light load.

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