@inproceedings{2d504d3b99494bdd96cce883fd0fd37f,
title = "Support torque reduction mechanism for biped locomotor with parallel mechanism",
abstract = "This paper describes the development of the Support Torque Reduction Mechanism for a biped locomotor with leg mechanisms using Stewart Platforms, designed for heavy payload and low power consumption during walking. The basic design of this mechanism was decided through preliminary experiments. Each leg of the robot is equipped with this mechanism consisting of 2 gas springs with different reaction forces, which are switched according to the swing / support phase. The experiment measuring motor current during walking with payload and the walking experiment with maximum payload confirmed the effectiveness of this mechanism.",
keywords = "Biped walking, Bipedal locomotor, Locomotion module, Parallel mechanism; support torque, Torque reduction",
author = "Yusuke Sugahara and Masamiki Kawase and Yutaka Mikuriya and Takuya Hosobata and Hiroyuki Sunazuka and Kenji Hashimoto and Lim, {Hun Ok} and Atsuo Takanishi",
year = "2004",
language = "English",
isbn = "0780384636",
series = "2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
pages = "3213--3218",
booktitle = "2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
note = "2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; Conference date: 28-09-2004 Through 02-10-2004",
}