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JRM Vol.26 No.6 pp. 750-757
doi: 10.20965/jrm.2014.p0750
(2014)

Paper:

Design and Control of a Human-Operated Biped Robot for Transportation of Objects

Naoki Uchiyama, Dai Kurita, and Shigenori Sano

Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan

Received:
May 1, 2014
Accepted:
October 20, 2014
Published:
December 20, 2014
Keywords:
biped robot, human-operated robot, object transportation task, stair-climbing, artificial leg
Abstract

Human-operated biped robot

Object transportation is a basic task for which mechanical systems provide support. Examples of the many types of mobile devices developed thus far are handcarts, unmanned autonomous vehicles, forklifts and turret trucks. Most such vehicles are based on wheeled mobile mechanisms, which would be difficult to use for moving objects in areas with high steps. A walking mobile mechanism, in contrast, enables steps to be ascended and descended, so it is expected that walking mechanisms could support object transportation in environments with stairs or steps. In this paper, we present a biped robot that supports object transportation involving stairs instead of human operators doing so. We start with the design of a biped robot with four actuators for one each for the hips and knees of each leg. Dynamics of the biped robot is then derived for simulation in which force applied by a human operator and a reaction from the ground are considered. A controller is presented for transporting objects up stairs having an unknown step height. Experimental results and photos confirm that the developed system successfully climbs the stairs of unknown height during human operation.

Cite this article as:
N. Uchiyama, D. Kurita, and S. Sano, “Design and Control of a Human-Operated Biped Robot for Transportation of Objects,” J. Robot. Mechatron., Vol.26, No.6, pp. 750-757, 2014.
Data files:
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