Abstract
Wheels and crawlers have been used as the locomotion mechanism of welfare systems such as wheelchairs and walk support machines. However, they are difficult to be employed in human-living environments. The purpose of this research is to develop a multi-purpose locomotion system for human-robot symbiosis. The locomotion system can take on a human and support his / her walk on the slopes and stairs. We have developed a biped locomotion system that consists of a waist and two legs with parallel mechanisms, and realized dynamic walking, sharp turning, outdoor walking and walking with 50kg payload.
