Design of a battery-powered 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

    52 Citations (Scopus)

    Abstract

    This paper describes the design of a battery driven bipedal robot, which uses 6-DOF parallel mechanisms for its each leg. We have designed this considering a bipedal robot as the leg module that is sufficient for practical use as a multi-purpose locomotor of the robot system. This robot is applicable to various fields, such as medical, welfare and entertainment. In the design of the robot, we have reduced the weight to the maximum extent, taking advantage of the features of the parallel mechanism which the mechanism rigidity is high. Using the developed bipedal locomotor, dynamic walking with the step time of 0.96 sec/step and the step length of 0.2 m/step was conducted, and the effectiveness of its mechanism was confirmed.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Pages2658-2663
    Number of pages6
    Volume3
    Publication statusPublished - 2002
    Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne
    Duration: 2002 Sep 302002 Oct 4

    Other

    Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
    CityLausanne
    Period02/9/3002/10/4

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    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Sugahara, Y., Endo, T., Lim, H. O., & Takanishi, A. (2002). Design of a battery-powered multi-purpose bipedal locomotor with parallel mechanism. In IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 2658-2663)