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

doi:10.1109/IROS.2005.1545500

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

72 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 language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Publisher	IEEE Computer Society
Pages	1489-1494
Number of pages	6
ISBN (Print)	0780389123, 9780780389120
DOIs	https://doi.org/10.1109/IROS.2005.1545500
Publication status	Published - 2005

Publication series

Name	2005 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

Access to Document

10.1109/IROS.2005.1545500

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

Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism. / Sugahara, Yusuke; Ohta, Akihiro; Hashimoto, Kenji et al.

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, 2005. p. 1489-1494 1545500 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sugahara, Y, Ohta, A, Hashimoto, K, Sunazuka, H, Kawase, M, Tanaka, C, Lim, HO & 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., 1545500, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, IEEE Computer Society, pp. 1489-1494. https://doi.org/10.1109/IROS.2005.1545500

Sugahara Y, Ohta A, Hashimoto K, Sunazuka H, Kawase M, Tanaka C et al. 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. IEEE Computer Society. 2005. p. 1489-1494. 1545500. (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). doi: 10.1109/IROS.2005.1545500

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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.",

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

Abstract

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Keywords

ASJC Scopus subject areas

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