The Yokohama National University has developed a series of humanoid robots. The first is Mari I, a bipedal walking robot that is lightweight and only has six joints on each leg. It has a height of 120 centimeters and weight of 25 kilograms, with 14 degrees of freedom (DOF): six on each leg, two for the arm.
Its walking design is made from the position and direction references using the inverse kinematics calculation, where each joint is in a controlled position made with high gain P control. Mari I, having done a quasi-dynamic walking pattern, can do smooth walking and fast walking as well.
Yokohama National U.
