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: Contribution to journalConference article

53 Citations (Scopus)


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
Pages (from-to)3055-3060
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number3
Publication statusPublished - 2004 Jul 5
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1



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

ASJC Scopus subject areas

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

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