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

^*この研究の対応する著者

研究成果: Conference contribution

58 被引用数 (Scopus)

抄録

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.

本文言語	English
ホスト出版物のタイトル	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
ページ	2970-2975
ページ数	6
DOI	https://doi.org/10.1109/ROBOT.2005.1570565
出版ステータス	Published - 2005
イベント	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain 継続期間: 2005 4月 18 → 2005 4月 22

出版物シリーズ

名前	Proceedings - IEEE International Conference on Robotics and Automation
巻	2005
ISSN（印刷版）	1050-4729

Conference

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

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

UN SDG

この成果は、次の持続可能な開発目標に貢献しています

文献へのアクセス

10.1109/ROBOT.2005.1570565

他のファイルとリンク

引用スタイル

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). Article 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 その他.
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).

研究成果: 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 その他. 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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title = "Realization by biped leg-wheeled robot of biped walking and wheel-driven locomotion",

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.",

keywords = "Biped walking, Compensatory motion, Wheel-driven biped robot, Wheeled locomotion",

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

AU - Hosobata, Takuya

AU - Sugahara, Yusuke

AU - Mikuriya, Yutaka

AU - Sunazuka, Hiroyuki

AU - Kawase, Masamiki

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

PY - 2005

Y1 - 2005

N2 - 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.

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.

KW - Biped walking

KW - Compensatory motion

KW - Wheel-driven biped robot

KW - Wheeled locomotion

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BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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Y2 - 18 April 2005 through 22 April 2005

ER -

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

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出版物シリーズ

Conference

ASJC Scopus subject areas

UN SDG

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