脚機構にパラレルメカニズムを用いた汎用2足ロコモータの開発 : 第1報,試作機WL-15の設計・開発(機械力学,計測,自動制御)

概要

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This paper describes the mechanical and electrical design of a battery-driven bipedal locomotor, WL-15 (Waseda Leg 15), made of 6 DOF parallel mechanisms. This locomotor is designed to employ as a leg module of multi-purpose locomotion systems. The locomotor, therefore, will be applicable to medical and welfare fields, entertainments, humanoid robots and so on. In the design of the robot, we have reduced the weight to the maximum extent, taking advantage of the features of the parallel mechanism which the mechanical rigidity is high. The weight of WL-15 is 57kg including batteries and its height is 1.2m. Using the developed bipedal locomotor, basic dynamic walking experiments with the step time of 0.96sec/step and the step length of 0.1m/step was conducted, and the effectiveness of its mechanism was confirmed.
一般社団法人日本機械学会の論文
2004-03-25