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

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

Research output: Contribution to journalConference article

31 Citations (Scopus)


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
Pages (from-to)4342-4347
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2003 Dec 9
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19


ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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