The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

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Article type: Article
Pages 52-
Published: 2000
Released on J-STAGE: June 19, 2017

DOIhttps://doi.org/10.1299/jsmermd.2000.52_9

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DOIhttps://doi.org/10.1299/jsmermd.2000.53_1

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DOIhttps://doi.org/10.1299/jsmermd.2000.53_2

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This study is aimed at the development of biped humanoid robots walking and working in a human living space, with a focus on its physical construction and motion control method. In this paper, we present a follow-walking control method with a switching pattern technique for a biped humanoid robot. This method realizes a follow-walking motion by selecting and generating changeable unit patterns, based on an action model of robot-environment interaction. Using the control method, we have conducted hardware experiments that simulate dynamic walking, forward and backward walking and side-to-side walking while an external force is applied to the robot, and its effectiveness is verified.

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Article type: Article
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DOIhttps://doi.org/10.1299/jsmermd.2000.53_3

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DOIhttps://doi.org/10.1299/jsmermd.2000.53_4

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DOIhttps://doi.org/10.1299/jsmermd.2000.53_5

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DOIhttps://doi.org/10.1299/jsmermd.2000.53_6

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DOIhttps://doi.org/10.1299/jsmermd.2000.53_7

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DOIhttps://doi.org/10.1299/jsmermd.2000.53_8

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Pages 53-54
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DOIhttps://doi.org/10.1299/jsmermd.2000.53_9

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DOIhttps://doi.org/10.1299/jsmermd.2000.54_1

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DOIhttps://doi.org/10.1299/jsmermd.2000.54_2

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DOIhttps://doi.org/10.1299/jsmermd.2000.54_3

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DOIhttps://doi.org/10.1299/jsmermd.2000.54_5

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DOIhttps://doi.org/10.1299/jsmermd.2000.54_6

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DOIhttps://doi.org/10.1299/jsmermd.2000.55_1

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DOIhttps://doi.org/10.1299/jsmermd.2000.55_2

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DOIhttps://doi.org/10.1299/jsmermd.2000.55_3

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DOIhttps://doi.org/10.1299/jsmermd.2000.55_4

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DOIhttps://doi.org/10.1299/jsmermd.2000.55_5

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DOIhttps://doi.org/10.1299/jsmermd.2000.55_6

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DOIhttps://doi.org/10.1299/jsmermd.2000.55_9

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DOIhttps://doi.org/10.1299/jsmermd.2000.56_1

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[in Japanese], Carlos Pedraza Ortega Jesus, [in Japanese], [in Japanes ...

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DOIhttps://doi.org/10.1299/jsmermd.2000.56_5

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DOIhttps://doi.org/10.1299/jsmermd.2000.57_1

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[in Japanese], Shiry Ghidary Saeed, [in Japanese], [in Japanese]

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DOIhttps://doi.org/10.1299/jsmermd.2000.58_1

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DOIhttps://doi.org/10.1299/jsmermd.2000.58_7

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