TY - JOUR
T1 - Development of multi-purpose bipedal locomotor with parallel mechanism (1st report, design and development of the prototype WL-15)
AU - Sugahara, Yusuke
AU - Endo, Tatsuro
AU - Hosobata, Takuya
AU - Mikuriya, Yutaka
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2004/3
Y1 - 2004/3
N2 - This paper describes the mechanical and electrical design of a battery-driven bipedal locomotor, WL-15 (Waseda Leg 15), made of 6 DOF parallel mechanisms. This locomotor is designed to employ as B. leg module of multi-purpose locomotion systems. The locomotor, therefore, will be applicable to medical and welfare fields, entertainments, humanoid robots and so on. In the design of the robot, we have reduced the weight to the maximum extent, taking advantage of the features of the parallel mechanism which the mechanical rigidity is high. The weight of WL-15 is 57 kg including batteries and its height is 1.2 m. Using the developed bipedal locomotor, basic dynamic walking experiments with the step time of 0.96 sec/step and the step length of 0.1m/step was conducted, and the effectiveness of its mechanism was confirmed.
AB - This paper describes the mechanical and electrical design of a battery-driven bipedal locomotor, WL-15 (Waseda Leg 15), made of 6 DOF parallel mechanisms. This locomotor is designed to employ as B. leg module of multi-purpose locomotion systems. The locomotor, therefore, will be applicable to medical and welfare fields, entertainments, humanoid robots and so on. In the design of the robot, we have reduced the weight to the maximum extent, taking advantage of the features of the parallel mechanism which the mechanical rigidity is high. The weight of WL-15 is 57 kg including batteries and its height is 1.2 m. Using the developed bipedal locomotor, basic dynamic walking experiments with the step time of 0.96 sec/step and the step length of 0.1m/step was conducted, and the effectiveness of its mechanism was confirmed.
KW - Biped Walking
KW - Design
KW - Motion Control
KW - Moving Robot
KW - Parallel Mechanism
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U2 - 10.1299/kikaic.70.790
DO - 10.1299/kikaic.70.790
M3 - Article
AN - SCOPUS:2942620742
SN - 0387-5024
VL - 70
SP - 790
EP - 797
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
IS - 3
ER -