Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Development of a biped humanoid simulator

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
$31 $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)
Qiang Huang ; Dept. of Mechano Inf., Tokyo Univ., Japan ; Nakamura, Y. ; Arai, H. ; Tanie, K.

Since a biped humanoid inherently suffers from instability and always risks to tipping over, stable and reliable biped walking is the most important goal. The simulator is a significant tool to pursue this goal. In this paper, we first present a method for constructing a humanoid simulator that can closely model and predict the motion of an actual humanoid. We then propose a balance controller consisting of an off-line walk-pattern generator and a real-time modification. Using the simulator, we can predict the humanoid's physical capability subject to the constraints of actuators, and clarify the required specifications of actuators to execute a desired task. The functions of the developed simulator and the effectiveness of the proposed balance controller were evaluated through simulated walks on an unknown rough terrain, soft ground, and an environment in the presence of disturbances

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference: