Development of a biped locomotor applicable to medical and welfare fields

Author

Lim, Hun-ok ; Suhara, Y. ; Takanishi, Atsuo

Author_Institution

Dept. of Syst. Design Eng., Kanagawa Inst. of Technol., Japan

Volume

2

fYear

2003

fDate

20-24 July 2003

Firstpage

950

Abstract

This paper describes a new leg module for biped locomotors. We have developed a biped locomotor, WL-15 (Waseda Leg 15), which is applicable to various fields, such as medical, welfare and entertainment. WL-15 consists of parallel mechanisms such as a high stiffness, high positioning accuracy and easily calculated inverse kinematics. A walking control program is created on the basis of Simulink and RT-LAB executed on Windows NT and QNX target system. Using WL-15, dynamic walking with the step time of 0.8 [sec/step] to 1.92 [s/step] and turning step of 90 is conducted, and the effectiveness of WL-15´s parallel mechanisms is confirmed.

Keywords

computerised control; elastic constants; legged locomotion; medical robotics; position control; robot kinematics; QNX target system; RT-LAB; Simulink; Waseda Leg 15; Windows NT; biped locomotion; inverse kinematics; leg module; medical fields; parallel mechanisms; positioning accuracy; step time; stiffness; turning step; walking control; welfare fields; Biomedical engineering; Control systems; Design engineering; Humanoid robots; Humans; Kinematics; Leg; Legged locomotion; Medical robotics; Mobile robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225470

Filename

1225470