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EP-WAR3 biped robot for climbing and descending stairs

Published online by Cambridge University Press:  26 November 2004

Giorgio Figliolini  and
Marco Ceccarelli
Giorgio Figliolini
Affiliation:
LARM (Laboratory of Robotics and Mechatronics), DiMSAT — University of Cassino, G. Di Biasio, 43 — 03043 Cassino (FR) (ITALY), Email: figliolini@unicas.it and ceccarelli@unicas.it
Marco Ceccarelli
Affiliation:
LARM (Laboratory of Robotics and Mechatronics), DiMSAT — University of Cassino, G. Di Biasio, 43 — 03043 Cassino (FR) (ITALY), Email: figliolini@unicas.it and ceccarelli@unicas.it
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Abstract

A biped walking robot, named EP-WAR3 (Electro-Pneumatic-Walking-Robot), has been designed, built and tested at LARM (Laboratory of Robotics and Mechatronics) in Cassino. EP-WAR3 is provided with a suitable binary pneumatic actuation in order to be controlled through a common PLC (Programmable-Logic-Controller) as an event-based system in an on/off environment. The walking stability of the biped robot is obtained by using suction-cups, which are installed on the underside of each foot. EP-WAR3 is able to walk along a straight line with two different step sizes, turn right and left, and to climb and to descend stairs. A suitable motion analysis and programming technique of the PLC controller is proposed in order to obtain suitable walking capabilities and flexibility of the robot.

Keywords

Biped robotWalking stabilityClimbing and descending stairs.
Type
Research Article
Information
Robotica , Volume 22 , Issue 4 , August 2004 , pp. 405 - 417
Copyright
2004 Cambridge University Press

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