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
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;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225436
