Descending stairs with EP-WAR3 biped robot

Descending stairs with EP-WAR3 biped robot
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使用 EP-WAR3 双足机器人下楼梯

DOI：
10.1109/aim.2003.1225436
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发表时间：
2003
期刊：
Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003)
影响因子：
--
通讯作者：
M. di Gioia
M. di Gioia
中科院分区：
--
文献类型：
--
作者：
G. Figliolini;M. Ceccarelli;M. di Gioia

文献摘要

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第三个版本的双足机器人原型，被命名为EP-WAR3（电动气动行走机器人），已经在卡西诺的LARM（机器人和机电一体化实验室）设计、制造和测试。与之前版本的性能相比，EP-WAR3也能够下楼梯，因为一个新的驱动系统。此外，PLC（可编程逻辑控制器）的一种合适的编程技术是基于使用特定的子程序来操作EP-WAR3以运行不同的行走模式和下楼。
A third version of the biped robot prototype, named as EP-WAR3 (Electro-Pneumatic WAlking Robot), has been designed, built and tested at LARM (Laboratory of Robotics and Mechatronics) in Cassino. Compared to the performances of the previous versions, EP-WAR3 is also able to descend stairs because of a new actuation system. Moreover, a suitable programming technique of the PLC (Programmable-Logic-Controller) is based on the use of specific subroutines that operate EP-WAR3 to run different walking modes and additionally to descend stairs.