ROMANSY 11 pp 141-148 | Cite as

Development of a Biped Walking Robot Adapting to the Real World

Realization of Dynamic Biped Walking Adapting to the Humans’ Living Floor
  • J. Yamaguchi
  • A. Takanishi
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)


In this paper, the authors introduce an anthropomorphic dynamic biped walking robot adapting to the humans’ living floor. The robot has two remarkable systems: (1) a special foot system to obtain the position relative to a landing surface and the gradient of the surface during its dynamic walking; (2) an adaptive walking control system to adapt to the path surfaces with unknown shapes by utilizing the information of landing surface, obtained by the foot system. Two units of the foot system WAF-3 were produced, a biped walking robot W L-12RVII that had the foot system and the adaptive walking control system installed inside it was developed, and a walking experiment with WL-12RVII was performed. As a result, dynamic biped walking adapting to humans’ living floor with unknown shape was realized. The maximum walking speed was 1.28 s/step with a 0.3m step length, and the adaptable deviation range was from −16 to +16mm/step in the vertical direction, and from −3 to +3° in the tilt angle.


Landing Surface Swing Phase Wooden Floor Double Support Phase Dynamic Walking 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • J. Yamaguchi
    • 1
  • A. Takanishi
    • 1
  1. 1.Waseda UniversityTokyoJapan

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