9 January 2008 Walking control of small size humanoid robot: Hajime Robot 18
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Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 679421 (2008); doi: 10.1117/12.784475
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan
Abstract
HAJIME ROBOT 18 is a fully autonomous biped robot. It has been developed for RoboCup which is a worldwide soccer competition of robots. It is necessary for a robot to have high mobility to play soccer. High speed walking and all directional walking are important to approach and to locate in front of a ball. HAJIME ROBOT achieved these walking. This paper describes walking control of a small size humanoid robot 'HAJIME ROBOT 18' and shows the measurement result of ZMP (Zero Moment Point). HAJIME ROBOT won the Robotics Society of Japan Award in RoboCup 2005 and in RoboCup 2006 Japan Open.
© (2008) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Hajime Sakamoto, Ryohei Nakatsu, "Walking control of small size humanoid robot: Hajime Robot 18", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679421 (9 January 2008); doi: 10.1117/12.784475; https://doi.org/10.1117/12.784475
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KEYWORDS
Sensors

Vibration control

Gyroscopes

Logic

Servomechanisms

Motion controllers

Gait analysis

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