We are studying novel parallel-link-based leg design for biped robots.
By using 6-DOF parallel mechanism for the legs, heavy motors can be installed near the base link.
This design effectively reduces the inertia of the legs and makes the robot capable of walking in higher speed
as well as responding to disturbances more quickly.
The goal of research is to realize smooth walking of humanoid robots in dynamic and crowded environment.
The robot predicts several steps into the future and generates foot-steps and centroidal motion simultaneously.
A real biped robot tracking pre-planned reference trajectories
計画された参照軌道の追従による二足ロボット実機の歩行
Fall Avoidance Control
The goal of this study is to realize bipedal robots that can avoid falling and maintain balance in various situations, just like humans do in daily life.
In particular, this study focuses on fall avoidance motions against large disturbances that involve one or more stepping.
The relationship between the magnitude of disturbance and required number of steps is analyzed,
and computational methods for generating fall-avoiding motion are developed.
Simulation of fall-avoiding motion against lateral disturbances considering self-collision of legs
Two-step fall avoidance
Four-step fall avoidance
Fall avoidance experiments on real bipedal robot
実機による転倒回避運動の様子
forward push
backward push
diagonal push
sideways push
Related Publications
[1]
Y. Tazaki: Parallel Link-based Light-Weight Leg Design for Bipedal Robots, 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), pp.596-602, 2019.
[2]
G. Kim, H. Kuribayashi, Y. Tazaki, Y. Yokokohji: Omni-Directional Fall Avoidance of Bipedal Robots with Variable Stride Length and Step Duration, 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), pp.1-9, 2018.
[3]
K. Goto, Y. Tazaki, T. Suzuki: Bipedal Locomotion Control Based on Simultaneous Trajectory and Foot Step Planning, Journal of Robotics and Mechatronics, Vol.28, No.4, pp.533-542, 2016.
