Development of a biped locomotor applicable to medical and welfare fields

Hun Ok Lim, Y. Suhara, Atsuo Takanishi

    研究成果: Conference contribution

    2 引用 (Scopus)

    抄録

    This paper describes a new leg module for biped locomotors. We have developed a biped locomotor, WL-15 (Waseda Leg 15), which is applicable to various fields, such as medical, welfare and entertainment. WL-15 consists of parallel mechanisms such as a high stiffness, high positioning accuracy and easily calculated inverse kinematics. A walking control program is created on the basis of Simulink and RT-LAB executed on Windows NT and QNX target system. Using WL-15, dynamic walking with the step time of 0.8 [sec/step] to 1.92 [s/step] and turning step of 90 is conducted, and the effectiveness of WL-15's parallel mechanisms is confirmed.

    元の言語English
    ホスト出版物のタイトルIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    出版者Institute of Electrical and Electronics Engineers Inc.
    ページ950-955
    ページ数6
    2
    ISBN(印刷物)0780377591
    DOI
    出版物ステータスPublished - 2003
    イベント2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
    継続期間: 2003 7 202003 7 24

    Other

    Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
    Japan
    Kobe
    期間03/7/2003/7/24

    Fingerprint

    Inverse kinematics
    Stiffness

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

    これを引用

    Lim, H. O., Suhara, Y., & Takanishi, A. (2003). Development of a biped locomotor applicable to medical and welfare fields. : IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (巻 2, pp. 950-955). [1225470] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225470

    Development of a biped locomotor applicable to medical and welfare fields. / Lim, Hun Ok; Suhara, Y.; Takanishi, Atsuo.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 巻 2 Institute of Electrical and Electronics Engineers Inc., 2003. p. 950-955 1225470.

    研究成果: Conference contribution

    Lim, HO, Suhara, Y & Takanishi, A 2003, Development of a biped locomotor applicable to medical and welfare fields. : IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 巻. 2, 1225470, Institute of Electrical and Electronics Engineers Inc., pp. 950-955, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, Kobe, Japan, 03/7/20. https://doi.org/10.1109/AIM.2003.1225470
    Lim HO, Suhara Y, Takanishi A. Development of a biped locomotor applicable to medical and welfare fields. : IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 巻 2. Institute of Electrical and Electronics Engineers Inc. 2003. p. 950-955. 1225470 https://doi.org/10.1109/AIM.2003.1225470
    Lim, Hun Ok ; Suhara, Y. ; Takanishi, Atsuo. / Development of a biped locomotor applicable to medical and welfare fields. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 巻 2 Institute of Electrical and Electronics Engineers Inc., 2003. pp. 950-955
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