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

40 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 of the 2005 IEEE International Conference on Robotics and Automation
Pages2970-2975
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Conference

Conference2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period05/4/1805/4/22

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Keywords

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

ASJC Scopus subject areas

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

Cite this

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