Versatile Hybrid Locomotion on Bipedal Configuration Robot

Yusuke Ota; Tatsuya Tamaki; Kan Yoneda; Shigeo Hirose

doi:10.11499/sicep.2002.0.560.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.560.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Versatile Hybrid Locomotion on Bipedal Configuration Robot

Yusuke Ota, Tatsuya Tamaki, Kan Yoneda, Shigeo Hirose

Author information

Keywords: Bipedal Configuration, Reduced-DOF, Leg/Wheel Hybrid Locomotion

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 560

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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.

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