Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism

Yusuke Sugahara, Akihiro Ohta, Kenji Hashimoto, Hiroyuki Sunazuka, Masamiki Kawase, Chiaki Tanaka, Hun Ok Lim, Atsuo Takanishi

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

59 Citations (Scopus)

Abstract

This paper describes the means of tuning-up method of the walking parameters to go up and down stairs for a biped robot with leg mechanisms using Stewart Platforms. It has been confirmed that the stroke range of use could be reduced by tuning up the waist yaw trajectory and preset ZMP trajectories for motion pattern generation. By using the developed method, a walking experiment involving movement up and down a stair with the rise of 250 mm and certain walking experiments ascending and descending stairs carrying a human were successfully completed. Through these experiments, the effectiveness of the proposed method was confirmed.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages1489-1494
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Biped locomotor
  • Biped walking
  • Carrying human
  • Parallel mechanism
  • Walking up and down stairs

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Sugahara, Y., Ohta, A., Hashimoto, K., Sunazuka, H., Kawase, M., Tanaka, C., Lim, H. O., & Takanishi, A. (2005). Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1489-1494). [1545500] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545500