Title :
Development of walking and task performing robot with bipedal configuration
Author :
OTA, Yusuke ; Yoneda, Kan ; Muramatsu, Yusuke ; Hirose, Shigeo
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan
Abstract :
In order to perform tasks and move using separate mechanisms, robots are required to have many degrees of freedom (DOF). As a result, robots become heavy and lose their mobility. In this paper, an effective design of robots with reduced DOF is described. An 8-DOF bipedal configuration robot with high tasking and moving performance was developed. In this robot, the DOF are reduced as much as possible without hampering the its mobility, by finding a balance between the increase in weight with additional DOF and the loss of manipulability with a reduction of DOF
Keywords :
legged locomotion; motion control; robot kinematics; bipedal configuration; degree of freedom; legged locomotion; mobile robot; mobility; motion analysis; task performing; walking locomotion; weight; Actuators; Aerospace engineering; Concrete; Humanoid robots; Humans; Legged locomotion; Mobile robots; Power generation; Robotics and automation; US Department of Energy;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.973366
