{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,1,22]],"date-time":"2024-01-22T22:01:17Z","timestamp":1705960877230},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2005,10,31]],"date-time":"2005-10-31T00:00:00Z","timestamp":1130716800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2006,3]]},"abstract":"<jats:p>Our goal is to develop biped humanoid robots capable of working stably in a human living and working space, with a focus on their physical construction and motion control. At the first stage, we have developed a human-like biped robot, WABIAN (WAseda BIped humANoid), which has a thirty-five mechanical degrees of freedom. Its height is 1.66 [m] and its weight 107.4 [kg]. In this paper, a moment compensation method is described for stability, which is based on the motion of its head, legs and arms. Also, a follow walking method is proposed which is based on a pattern switching technique. By a combination of both methods, the biped robot is able to perform dynamic stamping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. Using WABIAN, human-fellow walking experiments are conducted, and the effectiveness of the methods are verified.<\/jats:p>","DOI":"10.1017\/s0263574705002109","type":"journal-article","created":{"date-parts":[[2005,10,31]],"date-time":"2005-10-31T13:45:59Z","timestamp":1130766359000},"page":"257-268","source":"Crossref","is-referenced-by-count":7,"title":["Quasi-human biped walking"],"prefix":"10.1017","volume":"24","author":[{"given":"Hun-ok","family":"Lim","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sang-ho","family":"Hyon","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Samuel A.","family":"Setiawan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Atsuo","family":"Takanishi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2005,10,31]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574705002109","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,8]],"date-time":"2019-04-08T20:29:20Z","timestamp":1554755360000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574705002109\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2005,10,31]]},"references-count":0,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2006,3]]}},"alternative-id":["S0263574705002109"],"URL":"https:\/\/doi.org\/10.1017\/s0263574705002109","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2005,10,31]]}}}