Realization of dynamic human-carrying walking by a biped locomotor

Yusuke Sugahara, Hun Ok Lim, Takuya Hosobata, Yutaka Mikuriya, Hiroyuki Sunazuka, Atsuo Takanishi

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

    52 Citations (Scopus)

    Abstract

    This paper describes the mechanism of biped locomotor, WL-16 (Waseda Leg - No.16), its compliance control method and experiments carrying a human. This robot is developed based on WL-15's basic design using new gimbals' mechanisms with small backlash and new linear actuators dealing with a heavy payload and a wide movable range. Walking experiments carrying a human are successfully completed and the effectiveness of WL-16's mechanism and control method are confirmed.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages3055-3060
    Number of pages6
    Volume2004
    Edition3
    Publication statusPublished - 2004
    EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
    Duration: 2004 Apr 262004 May 1

    Other

    OtherProceedings- 2004 IEEE International Conference on Robotics and Automation
    CountryUnited States
    CityNew Orleans, LA
    Period04/4/2604/5/1

    Fingerprint

    Compliance control
    Linear actuators
    Experiments
    Robots

    Keywords

    • Biped Locomotor
    • Biped Walking
    • Carrying Human
    • Locomotion Module
    • Parallel Mechanism

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Sugahara, Y., Lim, H. O., Hosobata, T., Mikuriya, Y., Sunazuka, H., & Takanishi, A. (2004). Realization of dynamic human-carrying walking by a biped locomotor. In Proceedings - IEEE International Conference on Robotics and Automation (3 ed., Vol. 2004, pp. 3055-3060)

    Realization of dynamic human-carrying walking by a biped locomotor. / Sugahara, Yusuke; Lim, Hun Ok; Hosobata, Takuya; Mikuriya, Yutaka; Sunazuka, Hiroyuki; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2004 3. ed. 2004. p. 3055-3060.

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

    Sugahara, Y, Lim, HO, Hosobata, T, Mikuriya, Y, Sunazuka, H & Takanishi, A 2004, Realization of dynamic human-carrying walking by a biped locomotor. in Proceedings - IEEE International Conference on Robotics and Automation. 3 edn, vol. 2004, pp. 3055-3060, Proceedings- 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, United States, 04/4/26.
    Sugahara Y, Lim HO, Hosobata T, Mikuriya Y, Sunazuka H, Takanishi A. Realization of dynamic human-carrying walking by a biped locomotor. In Proceedings - IEEE International Conference on Robotics and Automation. 3 ed. Vol. 2004. 2004. p. 3055-3060
    Sugahara, Yusuke ; Lim, Hun Ok ; Hosobata, Takuya ; Mikuriya, Yutaka ; Sunazuka, Hiroyuki ; Takanishi, Atsuo. / Realization of dynamic human-carrying walking by a biped locomotor. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2004 3. ed. 2004. pp. 3055-3060
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