Realization of dynamic human-carrying walking by a biped locomotor

Yusuke Sugahara; Hun Ok Lim; Takuya Hosobata; Yutaka Mikuriya; Hiroyuki Sunazuka; Atsuo Takanishi

doi:10.1109/robot.2004.1307526

Realization of dynamic human-carrying walking by a biped locomotor

Yusuke Sugahara^*, Hun Ok Lim, Takuya Hosobata, Yutaka Mikuriya, Hiroyuki Sunazuka, Atsuo Takanishi

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Contribution to journal › Conference article › peer-review

33 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	3055-3060
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	3
DOIs	https://doi.org/10.1109/robot.2004.1307526
Publication status	Published - 2004
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: 2004 Apr 26 → 2004 May 1

Keywords

Biped Locomotor
Biped Walking
Carrying Human
Locomotion Module
Parallel Mechanism

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/robot.2004.1307526

Cite this

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title = "Realization of dynamic human-carrying walking by a biped locomotor",

abstract = "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.",

keywords = "Biped Locomotor, Biped Walking, Carrying Human, Locomotion Module, Parallel Mechanism",

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

year = "2004",

doi = "10.1109/robot.2004.1307526",

language = "English",

volume = "2004",

pages = "3055--3060",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "3",

note = "Proceedings- 2004 IEEE International Conference on Robotics and Automation ; Conference date: 26-04-2004 Through 01-05-2004",

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TY - JOUR

T1 - Realization of dynamic human-carrying walking by a biped locomotor

AU - Sugahara, Yusuke

AU - Lim, Hun Ok

AU - Hosobata, Takuya

AU - Mikuriya, Yutaka

AU - Sunazuka, Hiroyuki

AU - Takanishi, Atsuo

PY - 2004

Y1 - 2004

N2 - 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.

AB - 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.

KW - Biped Locomotor

KW - Biped Walking

KW - Carrying Human

KW - Locomotion Module

KW - Parallel Mechanism

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DO - 10.1109/robot.2004.1307526

M3 - Conference article

AN - SCOPUS:3042671549

SN - 1050-4729

VL - 2004

SP - 3055

EP - 3060

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

IS - 3

T2 - Proceedings- 2004 IEEE International Conference on Robotics and Automation

Y2 - 26 April 2004 through 1 May 2004

ER -

Realization of dynamic human-carrying walking by a biped locomotor

Abstract

Keywords

ASJC Scopus subject areas

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