Realization of dynamic human-carrying walking by a biped locomotor

摘要

This paper describes the mechanism of biped locomotor, WL-16 (Waseda Leg No. 16), its compliance control method and experiments carrying a human. This robot is developed based on WL-15's basic design using new gimbals' mechanisms with small backlash and new linear actuators dealing with a heavy payload and a wide movable range. Walking experiments carrying a human are successfully completed and the effectiveness of WL-16's mechanism and control method are confirmed.