• DocumentCode
    393735
  • Title

    Versatile hybrid locomotion on bipedal configuration robot

  • Author

    OTA, Yusuke ; Tamaki, Tatsuya ; Yoneda, Kan ; Hirose, Shigeo

  • Author_Institution
    Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan
  • Volume
    4
  • fYear
    2002
  • fDate
    5-7 Aug. 2002
  • Firstpage
    2543
  • Abstract
    A bipedal configuration robot with reduced degrees of freedom (DOF) has been developed as a practical walking and task performing robot. In this paper, the maneuvers of versatile hybrid locomotion, which is based on both wheeled and legged locomotion, are described for achieving higher mobility. Results of experiments to verify these locomotion methods are also discussed.
  • Keywords
    legged locomotion; robot dynamics; stability; bipedal configuration robot; hybrid locomotion; legged locomotion; mobility; reduced DOF; stability; walking robots; wheeled locomotion; Actuators; Aerospace engineering; Control systems; Humans; Leg; Legged locomotion; Mobile robots; Power generation; Variable speed drives; Wheels;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    SICE 2002. Proceedings of the 41st SICE Annual Conference
  • Print_ISBN
    0-7803-7631-5
  • Type

    conf

  • DOI
    10.1109/SICE.2002.1195818
  • Filename
    1195818
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=393735