Development of a biped locomotor with the double stage linear actuator

Yusuke Sugahara, Kenji Hashimoto, Nobutsuna Endo, Terumasa Sawato, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Akihiro Hayashi, Hun Ok Lim, Atsuo Takanishi

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

    6 Citations (Scopus)

    Abstract

    Previously, the realization of ascending and descending stairs and landing pattern modification control by WL-16RII were reported. However, it is difficult to use the landing pattern modification control when ascending stairs, because of the insufficient stroke of linear actuators. In this report, the design of a double stage linear actuator with a larger expansion and contraction ratio is described. The new linear actuators developed have been installed in WL-16RII, and several experiments were conducted. Through experiments involving walking with a wide step length and ascending a stair with landing pattern modification control, the effectiveness of the actuator developed is confirmed.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages1850-1855
    Number of pages6
    DOIs
    Publication statusPublished - 2007
    Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome
    Duration: 2007 Apr 102007 Apr 14

    Other

    Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
    CityRome
    Period07/4/1007/4/14

    Fingerprint

    Linear actuators
    Stairs
    Landing
    Actuators
    Experiments

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Sugahara, Y., Hashimoto, K., Endo, N., Sawato, T., Kawase, M., Ohta, A., ... Takanishi, A. (2007). Development of a biped locomotor with the double stage linear actuator. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1850-1855). [4209355] https://doi.org/10.1109/ROBOT.2007.363591

    Development of a biped locomotor with the double stage linear actuator. / Sugahara, Yusuke; Hashimoto, Kenji; Endo, Nobutsuna; Sawato, Terumasa; Kawase, Masamiki; Ohta, Akihiro; Tanaka, Chiaki; Hayashi, Akihiro; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 1850-1855 4209355.

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

    Sugahara, Y, Hashimoto, K, Endo, N, Sawato, T, Kawase, M, Ohta, A, Tanaka, C, Hayashi, A, Lim, HO & Takanishi, A 2007, Development of a biped locomotor with the double stage linear actuator. in Proceedings - IEEE International Conference on Robotics and Automation., 4209355, pp. 1850-1855, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, 07/4/10. https://doi.org/10.1109/ROBOT.2007.363591
    Sugahara Y, Hashimoto K, Endo N, Sawato T, Kawase M, Ohta A et al. Development of a biped locomotor with the double stage linear actuator. In Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 1850-1855. 4209355 https://doi.org/10.1109/ROBOT.2007.363591
    Sugahara, Yusuke ; Hashimoto, Kenji ; Endo, Nobutsuna ; Sawato, Terumasa ; Kawase, Masamiki ; Ohta, Akihiro ; Tanaka, Chiaki ; Hayashi, Akihiro ; Lim, Hun Ok ; Takanishi, Atsuo. / Development of a biped locomotor with the double stage linear actuator. Proceedings - IEEE International Conference on Robotics and Automation. 2007. pp. 1850-1855
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