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

7 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 publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages1850-1855
Number of pages6
DOIs
Publication statusPublished - 2007 Nov 27
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 2007 Apr 102007 Apr 14

Publication series

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

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period07/4/1007/4/14

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Development of a biped locomotor with the double stage linear actuator'. Together they form a unique fingerprint.

  • 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