DocumentCode
1956234
Title
Descending stairs with EP-WAR3 biped robot
Author
Figliolini, Giorgio ; Ceccarelli, Marco ; Gioia, Maurizio Di
Author_Institution
Lab. of Robotics & Mechatronics, Univ. of Cassino, Italy
Volume
2
fYear
2003
fDate
20-24 July 2003
Firstpage
747
Abstract
A third version of the biped robot prototype, named as EP-WAR3 (Electro-Pneumatic WAlking Robot), has been designed, built and tested at LARM (Laboratory of Robotics and Mechatronics) in Cassino. Compared to the performances of the previous versions, EP-WAR3 is also able to descend stairs because of a new actuation system. Moreover, a suitable programming technique of the PLC (Programmable-Logic-Controller) is based on the use of specific subroutines that operate EP-WAR3 to run different walking modes and additionally to descend stairs.
Keywords
legged locomotion; programmable controllers; subroutines; Cassino; EP-WAR3 biped robot; Electro-Pneumatic WAlking Robot; Laboratory of Robotics and Mechatronics; actuation system; biped robot prototype; programmable logic controller; programming technique; subroutines; walking modes; Foot; Laboratories; Leg; Legged locomotion; Mechatronics; Mobile robots; Programmable control; Prototypes; Robot programming; Robot sensing systems;
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.2003.1225436
Filename
1225436
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