Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion
Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion
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DOI：
10.1109/robot.2005.1570565
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发表时间：
2005-04
期刊：
影响因子：
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通讯作者：
K. Hashimoto;T. Hosobata;Y. Sugahara;Yutaka Mikuriya;Hiroyuki Sunazuka;Masamiki Kawase;Hun-ok Lim;A. Takanishi
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文献类型：
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作者：
K. Hashimoto;T. Hosobata;Y. Sugahara;Yutaka Mikuriya;Hiroyuki Sunazuka;Masamiki Kawase;Hun-ok Lim;A. Takanishi
步行很容易适应崎岖的地形，如楼梯和石子路，但在平地上的步行速度和能源效率不如轮式运动。在本文中，我们提出了一个可移动机器人能够步行或车轮根据地面条件。WS-2（早稻田鞋-2号）是由一个直流电动机，一个球形脚轮和两个橡胶垫在每只脚上的轮式运动。WS-2是连接到WL-16（早稻田腿-第16号）的脚，这是世界上第一个两足步行机器人能够携带一个人。此外，路径规划的轮式运动。通过硬件实验，验证了该足模块的有效性。
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.