Development of a biped locomotor with the double stage linear actuator

Yusuke Sugahara; Kenji Hashimoto; Nobutsuna Endo; Terumasa Sawato; Masamiki Kawase; Akihiro Ohta; Chiaki Tanaka; Akihiro Hayashi; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/ROBOT.2007.363591

Development of a biped locomotor with the double stage linear actuator

Yusuke Sugahara^*, Kenji Hashimoto, Nobutsuna Endo, Terumasa Sawato, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Akihiro Hayashi, Hun Ok Lim, Atsuo Takanishi

^*この研究の対応する著者

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

Previously, the realization of ascending and descending stairs and landing pattern modification control by WL-16RII were reported. However, it is difficult to use the landing pattern modification control when ascending stairs, because of the insufficient stroke of linear actuators. In this report, the design of a double stage linear actuator with a larger expansion and contraction ratio is described. The new linear actuators developed have been installed in WL-16RII, and several experiments were conducted. Through experiments involving walking with a wide step length and ascending a stair with landing pattern modification control, the effectiveness of the actuator developed is confirmed.

本文言語	English
ホスト出版物のタイトル	2007 IEEE International Conference on Robotics and Automation, ICRA'07
ページ	1850-1855
ページ数	6
DOI	https://doi.org/10.1109/ROBOT.2007.363591
出版ステータス	Published - 2007
イベント	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy 継続期間: 2007 4月 10 → 2007 4月 14

出版物シリーズ

名前	Proceedings - IEEE International Conference on Robotics and Automation
ISSN（印刷版）	1050-4729

Conference

Conference	2007 IEEE International Conference on Robotics and Automation, ICRA'07
国/地域	Italy
City	Rome
Period	07/4/10 → 07/4/14

ASJC Scopus subject areas

ソフトウェア
制御およびシステム工学
人工知能
電子工学および電気工学

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10.1109/ROBOT.2007.363591

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引用スタイル

Sugahara, Y., Hashimoto, K., Endo, N., Sawato, T., Kawase, M., Ohta, A., Tanaka, C., Hayashi, A., Lim, H. O., & Takanishi, A. (2007). Development of a biped locomotor with the double stage linear actuator. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 1850-1855). 記事 4209355 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.363591

Sugahara, Y, Hashimoto, K, Endo, N, Sawato, T, Kawase, M, Ohta, A, Tanaka, C, Hayashi, A, Lim, HO & Takanishi, A 2007, Development of a biped locomotor with the double stage linear actuator. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209355, Proceedings - IEEE International Conference on Robotics and Automation, pp. 1850-1855, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 07/4/10. https://doi.org/10.1109/ROBOT.2007.363591

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abstract = "Previously, the realization of ascending and descending stairs and landing pattern modification control by WL-16RII were reported. However, it is difficult to use the landing pattern modification control when ascending stairs, because of the insufficient stroke of linear actuators. In this report, the design of a double stage linear actuator with a larger expansion and contraction ratio is described. The new linear actuators developed have been installed in WL-16RII, and several experiments were conducted. Through experiments involving walking with a wide step length and ascending a stair with landing pattern modification control, the effectiveness of the actuator developed is confirmed.",

author = "Yusuke Sugahara and Kenji Hashimoto and Nobutsuna Endo and Terumasa Sawato and Masamiki Kawase and Akihiro Ohta and Chiaki Tanaka and Akihiro Hayashi and Lim, {Hun Ok} and Atsuo Takanishi",

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AU - Sugahara, Yusuke

AU - Hashimoto, Kenji

AU - Endo, Nobutsuna

AU - Sawato, Terumasa

AU - Kawase, Masamiki

AU - Ohta, Akihiro

AU - Tanaka, Chiaki

AU - Hayashi, Akihiro

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

PY - 2007

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AB - Previously, the realization of ascending and descending stairs and landing pattern modification control by WL-16RII were reported. However, it is difficult to use the landing pattern modification control when ascending stairs, because of the insufficient stroke of linear actuators. In this report, the design of a double stage linear actuator with a larger expansion and contraction ratio is described. The new linear actuators developed have been installed in WL-16RII, and several experiments were conducted. Through experiments involving walking with a wide step length and ascending a stair with landing pattern modification control, the effectiveness of the actuator developed is confirmed.

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T3 - Proceedings - IEEE International Conference on Robotics and Automation

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Development of a biped locomotor with the double stage linear actuator

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