Support torque reduction mechanism for biped locomotor with parallel mechanism

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

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

    17 Citations (Scopus)

    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.

    Original languageEnglish
    Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Pages3213-3218
    Number of pages6
    Volume4
    Publication statusPublished - 2004
    Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai
    Duration: 2004 Sep 282004 Oct 2

    Other

    Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    CitySendai
    Period04/9/2804/10/2

    Fingerprint

    Torque
    Experiments
    Electric power utilization
    Robots
    Gases

    Keywords

    • Biped walking
    • Bipedal locomotor
    • Locomotion module
    • Parallel mechanism; support torque
    • Torque reduction

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Sugahara, Y., Kawase, M., Mikuriya, Y., Hosobata, T., Sunazuka, H., Hashimoto, K., ... Takanishi, A. (2004). Support torque reduction mechanism for biped locomotor with parallel mechanism. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Vol. 4, pp. 3213-3218)

    Support torque reduction mechanism for biped locomotor with parallel mechanism. / Sugahara, Yusuke; Kawase, Masamiki; Mikuriya, Yutaka; Hosobata, Takuya; Sunazuka, Hiroyuki; Hashimoto, Kenji; Lim, Hun Ok; Takanishi, Atsuo.

    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 4 2004. p. 3213-3218.

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

    Sugahara, Y, Kawase, M, Mikuriya, Y, Hosobata, T, Sunazuka, H, Hashimoto, K, Lim, HO & Takanishi, A 2004, Support torque reduction mechanism for biped locomotor with parallel mechanism. in 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 4, pp. 3213-3218, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, 04/9/28.
    Sugahara Y, Kawase M, Mikuriya Y, Hosobata T, Sunazuka H, Hashimoto K et al. Support torque reduction mechanism for biped locomotor with parallel mechanism. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 4. 2004. p. 3213-3218
    Sugahara, Yusuke ; Kawase, Masamiki ; Mikuriya, Yutaka ; Hosobata, Takuya ; Sunazuka, Hiroyuki ; Hashimoto, Kenji ; Lim, Hun Ok ; Takanishi, Atsuo. / Support torque reduction mechanism for biped locomotor with parallel mechanism. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 4 2004. pp. 3213-3218
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    AU - Hashimoto, Kenji

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