Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion

Kenji Hashimoto*, Takuya Hosobata, Yusuke Sugahara, Yutaka Mikuriya, Hiroyuki Sunazuka, Masamiki Kawase, Hun Ok Lim, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference contribution

46 被引用数 (Scopus)

抄録

Biped walking is easily adaptable to rough terrain such as stairs and stony paths, but the walk speed and energy efficiency on the flat ground is not so effective compared with wheeled locomotion. In this paper, we propose a biped robot to be able to walk or wheel according to the ground conditions. For wheeled locomotion, WS-2 (Waseda Shoes - No.2) is developed which is composed of a DC motor, a spherical caster and two rubber pads on each foot. WS-2 is attached to the feet of WL-16 (Waseda Leg - No.16) that is the world's first biped-walking robot capable of carrying a human. Also, a path planning for wheeled locomotion is presented. Through hardware experiments, the effectiveness of this foot module is confirmed.

本文言語English
ホスト出版物のタイトルProceedings of the 2005 IEEE International Conference on Robotics and Automation
ページ2970-2975
ページ数6
DOI
出版ステータスPublished - 2005
イベント2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
継続期間: 2005 4 182005 4 22

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2005
ISSN(印刷版)1050-4729

Conference

Conference2005 IEEE International Conference on Robotics and Automation
国/地域Spain
CityBarcelona
Period05/4/1805/4/22

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

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