ICRA 2011 Paper Abstract


Paper WeP103.5

Guan, Yisheng (South China University of Technology), Zhou, Xuefeng (Soth China University of Technology), Zhu, Haifei (South China University of Technology), Jiang, Li (South China University of Technology), Cai, Chuanwu (South China University of Technology), Zhang, Xianmin (South China University of Technology), Zhang, Hong (University of Alberta)

A Novel 6-DOF Biped Active Walking Robot -- Walking Gaits, Patterns and Experiments

Scheduled for presentation during the Regular Sessions "Humanoid Robots III" (WeP103), Wednesday, May 11, 2011, 14:40−14:55, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Humanoid Robots, Multi-legged Robots, Field Robots


Combining the advantages of active and passive walking robots, we have developed a novel active biped walking robot with only six DoFs. The robot is built with six 1-DoF joint modules and two wheels as the feet. It achieves locomotion in special gaits different from those of traditional biped robots. In this paper, this novel biped robot is introduced, and four walking gaits, namely turning-around gait, foot-wheel hybrid gait, side-stepping gait and turning-over gait are proposed, and their walking patterns and motion planning are presented and analyzed. Walking experiments are carried out to verify the locomotion function, the effectiveness of the presented gaits and to illustrate the features of this novel biped robot. It has been shown that biped active walking may be achieved with only a few DoFs and simple kinematic configuration.



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