脚部にパラレルリンク機構を用いた２足ロコモータの開発（第４報：高可搬重量化?広可動範囲化を図った新型ハードウェア）

摘要

This paper describes the mechanical and electrical systems of a new biped locomotor, WL-16 (Waseda Leg-No.16).This locomotor that is developed using a parallel mechanism with payload of 50[kg] and a new gimbals’ mechanism withoutlarge backrush has the movable range of 1020[mm] in forth-and-back walking, 1360[mm] in side-to-side walking and 340[mm]in step height. Using WL-16, basic walking experiments are conducted and the effectiveness of its mechanism is confirmed.