Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion

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....

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Bibliographic Details
Published inProceedings of the 2005 IEEE International Conference on Robotics and Automation pp. 2970 - 2975
Main Authors Hashimoto, K., Hosobata, T., Sugahara, Y., Mikuriya, Y., Sunazuka, H., Kawase, M., Hun-ok Lim, Takanishi, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Biped Walking
Compensatory motion
DC motors
Energy efficiency
Foot
Footwear
Humans
Leg
Legged locomotion
Mobile robots
Rubber
Wheel-driven Biped Robot
Wheeled locomotion
Wheels
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Summary: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.
ISBN:078038914X
9780780389144
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2005.1570565