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

会議情報

主催: The Society of Instrument and Control Engineers

共催: 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

著者情報

キーワード: Bipedal Configuration, Reduced-DOF, Leg/Wheel Hybrid Locomotion

会議録・要旨集フリー

p. 560

詳細

抄録

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.

責任著者(Corresponding author)

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