Realization of dynamic human-carrying walking by a biped locomotor

Realization of dynamic human-carrying walking by a biped locomotor
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DOI：
10.1109/robot.2004.1307526
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发表时间：
2004-07
期刊：
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
影响因子：
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通讯作者：
Y. Sugahara;T. Hosobata;Yutaka Mikuriya;Hiroyuki Sunazuka;Hun-ok Lim;A. Takanishi
Y. Sugahara;T. Hosobata;Yutaka Mikuriya;Hiroyuki Sunazuka;Hun-ok Lim;A. Takanishi
中科院分区：
其他
文献类型：
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作者：
Y. Sugahara;T. Hosobata;Yutaka Mikuriya;Hiroyuki Sunazuka;Hun-ok Lim;A. Takanishi

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本文介绍了两足机器人WL-16 （Waseda Leg No. 16）的工作原理、柔度控制方法和载人实验。该机器人是在WL-15的基本设计基础上开发的，采用了具有小间隙的新型万向节机构和新型线性执行机构，处理重载荷和宽活动范围。成功完成了载人行走实验，验证了WL-16的机理和控制方法的有效性。
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.