Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion

Kenji Hashimoto, Takuya Hosobata, Yusuke Sugahara, Yutaka Mikuriya, Hiroyuki Sunazuka, Masamiki Kawase, Hun Ok Lim, Atsuo Takanishi

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

    37 Citations (Scopus)

    Abstract

    Biped walking is easily adaptable to rough terrain such as stairs and stony paths, but the walk speed and energy efficiency on the flat ground is not so effective compared with wheeled locomotion. In this paper, we propose a biped robot to be able to walk or wheel according to the ground conditions. For wheeled locomotion, WS-2 (Waseda Shoes - No.2) is developed which is composed of a DC motor, a spherical caster and two rubber pads on each foot. WS-2 is attached to the feet of WL-16 (Waseda Leg - No.16) that is the world's first biped-walking robot capable of carrying a human. Also, a path planning for wheeled locomotion is presented. Through hardware experiments, the effectiveness of this foot module is confirmed.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages2970-2975
    Number of pages6
    Volume2005
    DOIs
    Publication statusPublished - 2005
    Event2005 IEEE International Conference on Robotics and Automation - Barcelona
    Duration: 2005 Apr 182005 Apr 22

    Other

    Other2005 IEEE International Conference on Robotics and Automation
    CityBarcelona
    Period05/4/1805/4/22

    Fingerprint

    Wheels
    Robots
    Stairs
    DC motors
    Motion planning
    Energy efficiency
    Rubber
    Hardware
    Experiments

    Keywords

    • Biped walking
    • Compensatory motion
    • Wheel-driven biped robot
    • Wheeled locomotion

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Hashimoto, K., Hosobata, T., Sugahara, Y., Mikuriya, Y., Sunazuka, H., Kawase, M., ... Takanishi, A. (2005). Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2005, pp. 2970-2975). [1570565] https://doi.org/10.1109/ROBOT.2005.1570565

    Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion. / Hashimoto, Kenji; Hosobata, Takuya; Sugahara, Yusuke; Mikuriya, Yutaka; Sunazuka, Hiroyuki; Kawase, Masamiki; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. p. 2970-2975 1570565.

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

    Hashimoto, K, Hosobata, T, Sugahara, Y, Mikuriya, Y, Sunazuka, H, Kawase, M, Lim, HO & Takanishi, A 2005, Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2005, 1570565, pp. 2970-2975, 2005 IEEE International Conference on Robotics and Automation, Barcelona, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570565
    Hashimoto K, Hosobata T, Sugahara Y, Mikuriya Y, Sunazuka H, Kawase M et al. Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005. 2005. p. 2970-2975. 1570565 https://doi.org/10.1109/ROBOT.2005.1570565
    Hashimoto, Kenji ; Hosobata, Takuya ; Sugahara, Yusuke ; Mikuriya, Yutaka ; Sunazuka, Hiroyuki ; Kawase, Masamiki ; Lim, Hun Ok ; Takanishi, Atsuo. / Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. pp. 2970-2975
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