This paper proposes the mechanism and control of the biped humanoid robots WABIAN-RIV
and WL-16. WABIAN-RIV has 43 mechanical degrees of freedom (df): 6 df in each leg, 7 df …

As an autonomic and convenient assistance device for people with disabilities and the
elderly climbing up and down stairs, electric-powered wheelchairs with stair-climbing ability …

In this paper we propose the design idea of branch variation of a mobile parallel mechanism
so that it can execute different locomotion modes. A novel robot is presented based on this …

This paper describes the means of tuning-up method of the walking parameters to go up and
down stairs for a biped robot with leg mechanisms using Stewart platforms. It has been …

In this paper we put forward the idea of deforming the geometry of a parallel mechanism
such that it can operate either as an equivalent rolling robot or quadruped robot. Based on it …

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 …

Biped robots have gained much attention for decades. A variety of researches have been
conducted to make them able to assist or even substitute for humans in performing special …

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 …

The exact and general formulation of optimal control for biped robots based on a numerical
representation of the motion equation is proposed. We can solve exactly the minimum …

抄録 This paper describes an experimental method for eval-uating the stiffness of a biped
walking robot. A reliable procedure is proposed as based on a simplified ver-sion of Milli …