By Topic

Design, simulation and walking experiments for a humanoid and gorilla robot with multiple locomotion modes

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Wu Weiguo ; Dept. of Mechanism Design, Harbin Inst. of Technol., China ; Lang Yuedong ; Zhang Fuhai ; Ren Bingyin

Aim at studying the whole humanoid and gorilla robot, a small integrated combinational gorilla robot with multiple locomotion modes and a humanoid head with facial expressions is presented in the paper. In order to meet the requirement on quadruped walking, a hand with multiple fingers that can also be used as the front foot is designed. A method of generating steady dynamic biped walking patterns based on variable ZMP is proposed. The motion simulation on the biped walking and quadruped walking of the robot by shifting the robot hands as feet is finished by means of a software for dynamics analysis, so that the basic walking ability of the robot can be ensured. On the basis of theoretical research and simulation, the experiments for biped walking and quadruped walking of the gorilla robot are finished successfully.

Published in:

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

2-6 Aug. 2005