Title :
Versatile hybrid locomotion on bipedal configuration robot
Author :
OTA, Yusuke ; Tamaki, Tatsuya ; Yoneda, Kan ; Hirose, Shigeo
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan
Abstract :
A bipedal configuration robot with reduced degrees of freedom (DOF) has been developed as a practical walking and task performing robot. In this paper, the maneuvers of versatile hybrid locomotion, which is based on both wheeled and legged locomotion, are described for achieving higher mobility. Results of experiments to verify these locomotion methods are also discussed.
Keywords :
legged locomotion; robot dynamics; stability; bipedal configuration robot; hybrid locomotion; legged locomotion; mobility; reduced DOF; stability; walking robots; wheeled locomotion; Actuators; Aerospace engineering; Control systems; Humans; Leg; Legged locomotion; Mobile robots; Power generation; Variable speed drives; Wheels;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195818
