@inproceedings{8e76c0e86d2c45c3866fc6abdf58e061,
title = "Development of a biped locomotor applicable to medical and welfare fields",
abstract = "This paper describes a new leg module for biped locomotors. We have developed a biped locomotor, WL-15 (Waseda Leg 15), which is applicable to various fields, such as medical, welfare and entertainment. WL-15 consists of parallel mechanisms such as a high stiffness, high positioning accuracy and easily calculated inverse kinematics. A walking control program is created on the basis of Simulink and RT-LAB executed on Windows NT and QNX target system. Using WL-15, dynamic walking with the step time of 0.8 [sec/step] to 1.92 [s/step] and turning step of 90 is conducted, and the effectiveness of WL-15's parallel mechanisms is confirmed.",
keywords = "Biomedical engineering, Control systems, Design engineering, Humanoid robots, Humans, Kinematics, Leg, Legged locomotion, Medical robotics, Mobile robots",
author = "Lim, {Hun Ok} and Y. Suhara and A. Takanishi",
note = "Publisher Copyright: {\textcopyright} 2003 IEEE.; 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 ; Conference date: 20-07-2003 Through 24-07-2003",
year = "2003",
doi = "10.1109/AIM.2003.1225470",
language = "English",
series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "950--955",
booktitle = "Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003",
}