Control and experiments of a multi-purpose bipedal locomotor with parallel mechanism

Author

Sugahara, Yusuke ; Endo, Tatsuro ; Lim, Hun-ok ; Takanishi, Atsuo

Author_Institution

Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

4342

Abstract

This paper describes a control and a structure of a battery driven bipedal robot, WL-15(Waseda Leg-15), which has a 6-DOF parallel mechanism. WL-15 has been designed as a multi-purpose locomotion of robotic systems. This robot is controlled by the QNX real-time operating system. Using Math Works´ SIMULINK and OPAL-RT´s RT-LAB executed on Windows NT and QNX target systems, control software and pattern generator are developed. A walking control capable of dealing with various dynamic walking is proposed and tested indoors and outdoors using the WL-15. Dynamic biped walking is realized with the maximum step length of 200 mm, the maximum walking speed of 0.8 s/step and the minimum speed of 1.92 s/step. Also, the WL-15 is confirmed to be able to turn 90 deg in two steps and carry a load of 18 kg.

Keywords

control system analysis computing; digital simulation; legged locomotion; motion control; real-time systems; 6 DOF; QNX control software; QNX pattern generator; QNX real time operating system; QNX target systems; Simulink; battery driven bipedal robots control; dynamic biped walking robot; indoor testing; maximum step length; multipurpose bipedal locomotors control; multipurpose robotic locomotion; outdoor testing; parallel mechanism; walking control; Batteries; Control systems; Design engineering; Humanoid robots; Leg; Legged locomotion; Mobile robots; Parallel robots; Robot control; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242272

Filename

1242272