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
Publication statusPublished - 2004 Dec 1
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume4

Conference

Conference2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period04/9/2804/10/2

Keywords

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

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint Dive into the research topics of 'Support torque reduction mechanism for biped locomotor with parallel mechanism'. Together they form a unique fingerprint.

  • Cite this

    Sugahara, Y., Kawase, M., Mikuriya, Y., Hosobata, T., Sunazuka, H., Hashimoto, K., Lim, H. O., & 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) (pp. 3213-3218). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 4).