Development of a Biped Locomotor with the Double Stage Linear Actuator

Previously, the realization of ascending and descending stairs and landing pattern modification control by WL-16RII were reported. However, it is difficult to use the landing pattern modification control when ascending stairs, because of the insufficient stroke of linear actuators. In this report, the design of a double stage linear actuator with a larger expansion and contraction ratio is described. The new linear actuators developed have been installed in WL-16RII, and several experiments were conducted. Through experiments involving walking with a wide step length and ascending a stair with landing pattern modification control, the effectiveness of the actuator developed is confirmed.