Development of multi-purpose bipedal locomotor with parallel mechanism (1st report, design and development of the prototype WL-15)

Yusuke Sugahara; Tatsuro Endo; Takuya Hosobata; Yutaka Mikuriya; Hun Ok Lim; Atsuo Takanishi

doi:10.1299/kikaic.70.790

Development of multi-purpose bipedal locomotor with parallel mechanism (1st report, design and development of the prototype WL-15)

Yusuke Sugahara^*, Tatsuro Endo, Takuya Hosobata, Yutaka Mikuriya, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

Abstract

This paper describes the mechanical and electrical design of a battery-driven bipedal locomotor, WL-15 (Waseda Leg 15), made of 6 DOF parallel mechanisms. This locomotor is designed to employ as B. leg module of multi-purpose locomotion systems. The locomotor, therefore, will be applicable to medical and welfare fields, entertainments, humanoid robots and so on. In the design of the robot, we have reduced the weight to the maximum extent, taking advantage of the features of the parallel mechanism which the mechanical rigidity is high. The weight of WL-15 is 57 kg including batteries and its height is 1.2 m. Using the developed bipedal locomotor, basic dynamic walking experiments with the step time of 0.96 sec/step and the step length of 0.1m/step was conducted, and the effectiveness of its mechanism was confirmed.

Original language	English
Pages (from-to)	790-797
Number of pages	8
Journal	Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	70
Issue number	3
DOIs	https://doi.org/10.1299/kikaic.70.790
Publication status	Published - 2004 Mar
Externally published	Yes

Keywords

Biped Walking
Design
Motion Control
Moving Robot
Parallel Mechanism

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.70.790

Cite this

Sugahara, Y., Endo, T., Hosobata, T., Mikuriya, Y., Lim, H. O., & Takanishi, A. (2004). Development of multi-purpose bipedal locomotor with parallel mechanism (1st report, design and development of the prototype WL-15). Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 70(3), 790-797. https://doi.org/10.1299/kikaic.70.790

Development of multi-purpose bipedal locomotor with parallel mechanism (1st report, design and development of the prototype WL-15). / Sugahara, Yusuke; Endo, Tatsuro; Hosobata, Takuya et al.

In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 70, No. 3, 03.2004, p. 790-797.

Research output: Contribution to journal › Article › peer-review

Sugahara, Y, Endo, T, Hosobata, T, Mikuriya, Y, Lim, HO & Takanishi, A 2004, 'Development of multi-purpose bipedal locomotor with parallel mechanism (1st report, design and development of the prototype WL-15)', Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, vol. 70, no. 3, pp. 790-797. https://doi.org/10.1299/kikaic.70.790

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Development of multi-purpose bipedal locomotor with parallel mechanism (1st report, design and development of the prototype WL-15)

Abstract

Keywords

ASJC Scopus subject areas

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