DocumentCode
2049246
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
Volume
1
fYear
2001
fDate
2001
Firstpage
247
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.973366
Filename
973366
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