2006 · 63 citations · 15 references
EngineeringMechanical EngineeringRobotics EngineeringHumanoid RoboticsPath PlanningRoboticsBipedal LocomotionHuman LocomotionLegged LocomotionLegged RoboticsMobile Robot LocomotionWheeled LocomotionEnergy-efficient LocomotionLegged Mobile RobotsLegged Robot LocomotionLocomotionLocomotion PlanningWalkingWheeled Locomotion On Rough TerrainWheeled Robot Locomotion
Biped walking is easily adaptable to rough terrain such as stairs and stony paths, but the walk speed and energy efficiency on the flat ground is not so effective compared with wheeled locomotion. In this paper, we propose a biped robot to be able to walk or wheel according to the ground conditions. For wheeled locomotion, WS-2 (Waseda Shoes -No. 2) is developed which is composed of a DC motor, a spherical caster and two rubber pads on each foot. WS-2 is attached to the feet of WL-16 (Waseda Leg -No. 16) that is the world's first biped-walking robot capable of carrying a human. Also, a path planning for wheeled locomotion is presented. Through hardware experiments, the effectiveness of this foot module is confirmed.
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An Innovative Space Rover with Extended Climbing Abilities
T. Estier, Y. Crausaz, Bertrand Merminod et al. · 2000 · 131 citations · Full text
Engineering, Aerospace Engineering, Robotics Engineering +17
A control method for dynamic biped walking under unknown external force
Atsuo Takanishi, T Takeya, H. Karaki et al. · 2002 · 120 citations
Engineering, Mechanical Engineering, Robotics Engineering +17
Rocky 7: a next generation Mars rover prototype
R. Volpe, J. Balaram, Timothy R. Ohm et al. · Advanced Robotics · 1996 · 110 citations
Engineering, Aerospace Engineering, Robotics Engineering +16
REALIZATION OF DYNAMIC WALKING BY THE BIPED WALKING ROBOT WL-10RD.
Atsuo Takanishi, Masami ISHIDA, Yoshihiro Yamazaki et al. · 1985 · 108 citations
Engineering, Mechanical Engineering, Robotics Engineering +10