Control and experiments of a multi-purpose bipedal locomotor with parallel mechanism

Yusuke Sugahara, Tatsuro Endo, Hun Ok Lim, Atsuo Takanishi

研究成果: Conference article査読

31 被引用数 (Scopus)

抄録

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].

本文言語English
ページ(範囲)4342-4347
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
3
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 142003 9 19

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

フィンガープリント

「Control and experiments of a multi-purpose bipedal locomotor with parallel mechanism」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル