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

doi:10.1109/ROBOT.2005.1570565

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

37 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	2970-2975
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570565
Publication status	Published - 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 2005 Apr 18 → 2005 Apr 22

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Conference

Conference	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	05/4/18 → 05/4/22

Keywords

Biped walking
Compensatory motion
Wheel-driven biped robot
Wheeled locomotion

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ROBOT.2005.1570565

Cite this

Hashimoto, K., Hosobata, T., Sugahara, Y., Mikuriya, Y., Sunazuka, H., Kawase, M., Lim, H. O., & Takanishi, A. (2005). Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 2970-2975). [1570565] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570565

Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion. / Hashimoto, Kenji; Hosobata, Takuya; Sugahara, Yusuke et al.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 2970-2975 1570565 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hashimoto, K, Hosobata, T, Sugahara, Y, Mikuriya, Y, Sunazuka, H, Kawase, M, Lim, HO & Takanishi, A 2005, Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570565, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 2970-2975, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570565

Hashimoto K, Hosobata T, Sugahara Y, Mikuriya Y, Sunazuka H, Kawase M et al. Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 2970-2975. 1570565. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.2005.1570565

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abstract = "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.",

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author = "Kenji Hashimoto and Takuya Hosobata and Yusuke Sugahara and Yutaka Mikuriya and Hiroyuki Sunazuka and Masamiki Kawase and Lim, {Hun Ok} and Atsuo Takanishi",

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AU - Hashimoto, Kenji

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AU - Sunazuka, Hiroyuki

AU - Kawase, Masamiki

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

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AB - 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.

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KW - Compensatory motion

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KW - Wheeled locomotion

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

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

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