Title :
Climbing stairs with EP-WAR2 biped robot
Author :
Figliolini, G. ; Ceccarelli, M.
Author_Institution :
Lab. of Robotics and Mechatronics DiMSAT, Cassino Univ., Italy
Abstract :
A second prototype of a biped walking robot, called EP-WAR2 (Electropneumatic WAlking Robot), has been designed and built at LARM (Laboratory of Robotics and Mechatronics) in Cassino. In addition to the performances of the previous prototype EP-WAR, EP-WAR2 is able to climb stairs because of a new actuation system. A suitable programming of the programmable logic controller has been based on several subroutines, which run different walking motions and specifically to climb stairs. Experimental tests prove the validity of the proposed low-cost design and programming technique.
Keywords :
actuators; electropneumatic control equipment; legged locomotion; on-off control; programmable controllers; robot programming; EP-WAR2 biped robot; actuation system; electropneumatic walking robot; low-cost design; programmable logic controller; programming technique; stair climbing; walking motions; Foot; Laboratories; Leg; Legged locomotion; Mechatronics; Programmable control; Prototypes; Robot programming; Testing; Valves;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933261
