This paper describes a control and a structure of a battery driven bipedal robot, WL-15 (Waseda Leg-15), which has a 6-DOF parallel mechanism. WL-15 has been designed as a multi-purpose locomotor of robotic systems. This robot is controlled by the QNX real-time operating system. Using Math Works' SIMULINK and OPAL-RT's RT-LAB executed on Windows NT and QNX target systems, control software and pattern generator are developed. A walking control capable of dealing with various dynamic walking is proposed and tested indoors and outdoors using the WL-15. Dynamic biped walking is realized with the maximum step length of 200[mm], the maximum walking speed of 0.8[s/step] and the minimum speed of 1.92[s/step]. Also, the WL-15 is confirmed to be able to turn 90[deg] in two steps and carry a load of 18[kg].
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 2003|
|イベント||2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China|
継続期間: 2003 9 14 → 2003 9 19
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