This paper describes the mechanism of biped locomotor, WL-16 (Waseda Leg - No.16), its compliance control method and experiments carrying a human. This robot is developed based on WL-15's basic design using new gimbals' mechanisms with small backlash and new linear actuators dealing with a heavy payload and a wide movable range. Walking experiments carrying a human are successfully completed and the effectiveness of WL-16's mechanism and control method are confirmed.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 2004|
|イベント||Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States|
継続期間: 2004 4 26 → 2004 5 1
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