Title :
Realization of dynamic human-carrying walking by a biped locomotor
Author :
Sugahara, Yusuke ; Hosobata, Takuya ; Mikuriya, Yutaka ; Sunazuka, Hiroyuki ; Lim, Hun-ok ; Takanishi, Atsuo
Author_Institution :
Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan
fDate :
26 April-1 May 2004
Abstract :
This paper describes the mechanism of biped locomotor, WL-16 (Waseda Leg No. 16), its compliance control method and experiments carrying a human. This robot is developed based on WL-15´s basic design using new gimbals´ mechanisms with small backlash and new linear actuators dealing with a heavy payload and a wide movable range. Walking experiments carrying a human are successfully completed and the effectiveness of WL-16´s mechanism and control method are confirmed.
Keywords :
compliance control; legged locomotion; WL-16; backlash; biped locomotor; compliance control method; dynamic human-carrying walking; gimbals mechanisms; linear actuators; walk support machine; walking experiments; walking wheelchair; Design engineering; Humans; Hydraulic actuators; Leg; Legged locomotion; Mobile robots; Payloads; Pelvis; Power engineering and energy; Wheelchairs;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307526
