Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism

Yusuke Sugahara*, Akihiro Ohta, Kenji Hashimoto, Hiroyuki Sunazuka, Masamiki Kawase, Chiaki Tanaka, Hun Ok Lim, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference contribution

65 被引用数 (Scopus)

抄録

This paper describes the means of tuning-up method of the walking parameters to go up and down stairs for a biped robot with leg mechanisms using Stewart Platforms. It has been confirmed that the stroke range of use could be reduced by tuning up the waist yaw trajectory and preset ZMP trajectories for motion pattern generation. By using the developed method, a walking experiment involving movement up and down a stair with the rise of 250 mm and certain walking experiments ascending and descending stairs carrying a human were successfully completed. Through these experiments, the effectiveness of the proposed method was confirmed.

本文言語English
ホスト出版物のタイトル2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
出版社IEEE Computer Society
ページ1489-1494
ページ数6
ISBN(印刷版)0780389123, 9780780389120
DOI
出版ステータスPublished - 2005

出版物シリーズ

名前2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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