Development of a biped locomotor applicable to medical and welfare fields

Hun Ok Lim, Y. Suhara, Atsuo Takanishi

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

    2 Citations (Scopus)

    Abstract

    This paper describes a new leg module for biped locomotors. We have developed a biped locomotor, WL-15 (Waseda Leg 15), which is applicable to various fields, such as medical, welfare and entertainment. WL-15 consists of parallel mechanisms such as a high stiffness, high positioning accuracy and easily calculated inverse kinematics. A walking control program is created on the basis of Simulink and RT-LAB executed on Windows NT and QNX target system. Using WL-15, dynamic walking with the step time of 0.8 [sec/step] to 1.92 [s/step] and turning step of 90 is conducted, and the effectiveness of WL-15's parallel mechanisms is confirmed.

    Original languageEnglish
    Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages950-955
    Number of pages6
    Volume2
    ISBN (Print)0780377591
    DOIs
    Publication statusPublished - 2003
    Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
    Duration: 2003 Jul 202003 Jul 24

    Other

    Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
    CountryJapan
    CityKobe
    Period03/7/2003/7/24

    Fingerprint

    Inverse kinematics
    Stiffness

    Keywords

    • Biomedical engineering
    • Control systems
    • Design engineering
    • Humanoid robots
    • Humans
    • Kinematics
    • Leg
    • Legged locomotion
    • Medical robotics
    • Mobile robots

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

    Cite this

    Lim, H. O., Suhara, Y., & Takanishi, A. (2003). Development of a biped locomotor applicable to medical and welfare fields. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 2, pp. 950-955). [1225470] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225470

    Development of a biped locomotor applicable to medical and welfare fields. / Lim, Hun Ok; Suhara, Y.; Takanishi, Atsuo.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 Institute of Electrical and Electronics Engineers Inc., 2003. p. 950-955 1225470.

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

    Lim, HO, Suhara, Y & Takanishi, A 2003, Development of a biped locomotor applicable to medical and welfare fields. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. vol. 2, 1225470, Institute of Electrical and Electronics Engineers Inc., pp. 950-955, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, Kobe, Japan, 03/7/20. https://doi.org/10.1109/AIM.2003.1225470
    Lim HO, Suhara Y, Takanishi A. Development of a biped locomotor applicable to medical and welfare fields. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2. Institute of Electrical and Electronics Engineers Inc. 2003. p. 950-955. 1225470 https://doi.org/10.1109/AIM.2003.1225470
    Lim, Hun Ok ; Suhara, Y. ; Takanishi, Atsuo. / Development of a biped locomotor applicable to medical and welfare fields. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 Institute of Electrical and Electronics Engineers Inc., 2003. pp. 950-955
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