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Realization of dynamic human-carrying walking by a biped locomotor
Description
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.
Journal
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- IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
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IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 3055-3060 Vol.3, 2004-01-01
IEEE
