Realization of dynamic human-carrying walking by a biped locomotor
- 1 January 2004
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 3055-3060 Vol.3
- https://doi.org/10.1109/robot.2004.1307526
Abstract
This paper describes the mechanism of biped locomotor, WL-16 (Waseda Leg No. 16), its compliance control method and experiments carrying a human. This robot is developed based on WL-15's basic design using new gimbals' mechanisms with small backlash and new linear actuators dealing with a heavy payload and a wide movable range. Walking experiments carrying a human are successfully completed and the effectiveness of WL-16's mechanism and control method are confirmed.Keywords
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