Development of a biped locomotor applicable to medical and welfare fields

Hun Ok Lim, Y. Suhara, A. 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 publicationProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages950-955
Number of pages6
ISBN (Electronic)0780377591
DOIs
Publication statusPublished - 2003 Jan 1
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: 2003 Jul 202003 Jul 24

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2

Other

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

Keywords

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

ASJC Scopus subject areas

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

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  • Cite this

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