Adaptive gait generation with Six-legged Walking Chair Robot using the hierarchical decentralized system

Ryusuke Ishizaki, Kazuo Nakazawa

Research output: Contribution to journalArticle


This paper proposes the method that a hexapod robot is traversed irregular terrain such as the stairs or slopes using the hierarchical decentralized system. A higher subsystem, analizes the stability while walking and instructs lower subsystems, is made to participate in the decentralized system of which a lower subsystem that one leg is controlled object. So the robot was achieved walking that adjusted to an environmental change in cooperated operation between subsystems. A conventional "Zero Moment Point (ZMP)" is a useful criterion of stability, but it does not evaluate the degree of stability. Therefore this paper proposes a "Acceleration Stability Margin". Amount of acceleration that ZMP is necessary for limit in stability area to move. Then Six-legged Walking Chair Robot achieved walking on irregular terrain that improved a movability while keeping the lowest stability margin by evaluating Acceleration Stability Margin at each environmental change.

Original languageEnglish
Pages (from-to)2540-2545
Number of pages6
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number8
Publication statusPublished - 2006 Aug 1



  • Dynamic stability margin
  • Hierarchical decentralized system
  • Irregular terrain
  • Walking chair robot

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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