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

Yusuke Sugahara, Tatsuro Endo, Hun Ok Lim, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    31 Citations (Scopus)

    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 locomotor 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].

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages4342-4347
    Number of pages6
    Volume3
    Publication statusPublished - 2003
    Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
    Duration: 2003 Sep 142003 Sep 19

    Other

    Other2003 IEEE International Conference on Robotics and Automation
    CountryTaiwan, Province of China
    CityTaipei
    Period03/9/1403/9/19

    Fingerprint

    Robots
    Robotics
    Experiments
    Control systems

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Sugahara, Y., Endo, T., Lim, H. O., & Takanishi, A. (2003). Control and experiments of a multi-purpose bipedal locomotor with parallel mechanism. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 4342-4347)

    Control and experiments of a multi-purpose bipedal locomotor with parallel mechanism. / Sugahara, Yusuke; Endo, Tatsuro; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 2003. p. 4342-4347.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Sugahara, Y, Endo, T, Lim, HO & Takanishi, A 2003, Control and experiments of a multi-purpose bipedal locomotor with parallel mechanism. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 3, pp. 4342-4347, 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Province of China, 03/9/14.
    Sugahara Y, Endo T, Lim HO, Takanishi A. Control and experiments of a multi-purpose bipedal locomotor with parallel mechanism. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3. 2003. p. 4342-4347
    Sugahara, Yusuke ; Endo, Tatsuro ; Lim, Hun Ok ; Takanishi, Atsuo. / Control and experiments of a multi-purpose bipedal locomotor with parallel mechanism. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 2003. pp. 4342-4347
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