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

doi:10.1109/ROBOT.2007.363591

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 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 language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	1850-1855
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.363591
Publication status	Published - 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: 2007 Apr 10 → 2007 Apr 14

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	07/4/10 → 07/4/14

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2007.363591

Cite this

Sugahara, Y., Hashimoto, K., Endo, N., Sawato, T., Kawase, M., Ohta, A., Tanaka, C., Hayashi, A., Lim, H. O., & Takanishi, A. (2007). Development of a biped locomotor with the double stage linear actuator. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 1850-1855). [4209355] (Proceedings - IEEE International Conference on Robotics and Automation). 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 et al.

2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 1850-1855 4209355 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209355, Proceedings - IEEE International Conference on Robotics and Automation, pp. 1850-1855, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 07/4/10. https://doi.org/10.1109/ROBOT.2007.363591

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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.",

author = "Yusuke Sugahara and Kenji Hashimoto and Nobutsuna Endo and Terumasa Sawato and Masamiki Kawase and Akihiro Ohta and Chiaki Tanaka and Akihiro Hayashi and Lim, {Hun Ok} and Atsuo Takanishi",

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AU - Sugahara, Yusuke

AU - Hashimoto, Kenji

AU - Endo, Nobutsuna

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AU - Kawase, Masamiki

AU - Ohta, Akihiro

AU - Tanaka, Chiaki

AU - Hayashi, Akihiro

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

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AB - 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.

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Development of a biped locomotor with the double stage linear actuator

Abstract

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