General description of the walking machine project
Name of the walking machine/project: WorkPartner Begin and end of the Project: 1998- 2005 Project costs: Building effort [person years]: 30 Source of financial support: National sources Research group Helsinki University of Technology, Intelligent Machines and Special Robotics Institute Staff of the project: Sami Ylönen, Petri Virekoski, Marko Savela, Sami Salmi, Miso Montonen, Zoltan Skrabak (control software) Ilkka Leppänen, Jan Zizka (mechatronics) Jussi Suomela, Mikko Heikkilä, Aleksi Kivi, Minna Väyrynen (user interface) Jorma Selkäinaho (navigation) Pekka Aarnio (simulation) Rover Company Ltd, St Petersburg, Russia (mechanical parts) Department of indrustial Design, University of Lapland, Rovaniemi Finland (Industrial design) Laboratory of Automotive Engineering, Helsinki University of Technology (combustion engine) Information via www: http://www.automation.hut.fi/IMSRI/workpartner/ Contact address: Prof. Aarne Halme , Helsinki University of Technology; Intelligent Machines and Special Robotics Institute (IMSRI) Konemiehentie 2, 02015 HUT, Finnland Tel: +358 9 4513301 Fax +358 9 4513308, Email: aarne.halme@hut.fi Technical data of the walking machine Dimension Capacity Mobility Energy supply Length 1.4m Max. speed 7km/h(wheels) Number of legs 4 Energy supply Hybrid power system Height 0.5-1.2m Weight 250kg Act. degrees of freedom 18 Power supply 4KW combustion engine Width 1.2m Load 10kg Pas. degrees of freedom 0 Power consumption 4 batteries, power consumption 1 kW References Leppänen I., Salmi S., Halme A. WorkPartner, HUT Automation?s new hybrid walking machine. CLAWAR?98 First international symposium, Brussels, Belgium, 26-28 Nov. 1998 Halme A, Leppänen I, Salmi S Development of WorkPartner-robot ? design of actuating and motion control system CLAWAR´99 2nd International conference on Climbing and Walkink Robots Portsmouth, England, 13-15 Sept 1999 Halme A, Koskinen K, Aarnio V-P, Salmi S, Leppänen I and Ylönen S WORKPARTNER - FUTURE INTERACTIVE SERVICE ROBOT. STeP2000 Millenium of Artificial Intelligence, Conference, Helsinki, Finland 28-31 Aug 2000 Halme, A., Leppänen, I., Salmi, S., Ylönen, S. Hybrid locomotion of a wheel-legged machine. 3rd International Conference on Climbing and Walking Robots. Madrid Spain 2000, Professional Engineering Publishing Ltd, s. 167-173. Aarnio, P., Koskinen, K., Salmi, S. Simulation of the hybtor robot. 3rd International Conference on Climbing and Walking Robots. Madrid Spain 2000, Professional Engineering Publishing Ltd, s. 267-274 Aarnio, P., Koskinen, K., Ylönen, S. Using simulation during development of combined manipulator and hybrid locomotion platform FSR 2001 conference Espoo, Finland 2001, June 11-13, 2001 Forsman, P Feature based registration of 3D perception data for indoor and outdoor map building FSR 2001 conference Espoo, Finland 2001, June 11-13, 2001 Halme, A., Leppänen, I., Ylönen, S., Kettunen, I. WorkPartner - Centaur like service robot for outdoor aplications FSR 2001 conference Espoo, Finland 2001, June 11-13, 2001 Selkäinaho, J., Halme A. Paanajärvi, J. Navigation system of an outdoor service robot with hybrid locomotion system FSR 2001 conference Espoo, Finland 2001, June 11-13, 2001 Ylönen, S., Leppänen, I., Salmi, S. Halme A. Hybrid locomotion of the WorkPartner service robot FSR 2001 conference Espoo, Finland 2001, June 11-13, 2001 Halme, A., Leppänen, I., Montonen, M., Ylönen, S. Robot motion by simultaneously wheel and leg propulsion 4rd International Conference on Climbing and Walking Robots. Karlsruhe, Germany, September 24-26, 2001. back to main page of walking machines catalogue %
Research group
Helsinki University of Technology, Intelligent Machines and Special Robotics Institute
Staff of the project:
Sami Ylönen, Petri Virekoski, Marko Savela, Sami Salmi, Miso Montonen, Zoltan Skrabak (control software) Ilkka Leppänen, Jan Zizka (mechatronics) Jussi Suomela, Mikko Heikkilä, Aleksi Kivi, Minna Väyrynen (user interface) Jorma Selkäinaho (navigation) Pekka Aarnio (simulation) Rover Company Ltd, St Petersburg, Russia (mechanical parts) Department of indrustial Design, University of Lapland, Rovaniemi Finland (Industrial design) Laboratory of Automotive Engineering, Helsinki University of Technology (combustion engine)
Information via www: http://www.automation.hut.fi/IMSRI/workpartner/
Contact address:
Prof. Aarne Halme , Helsinki University of Technology; Intelligent Machines and Special Robotics Institute (IMSRI) Konemiehentie 2, 02015 HUT, Finnland Tel: +358 9 4513301 Fax +358 9 4513308, Email: aarne.halme@hut.fi
Technical data of the walking machine
References
Leppänen I., Salmi S., Halme A. WorkPartner, HUT Automation?s new hybrid walking machine. CLAWAR?98 First international symposium, Brussels, Belgium, 26-28 Nov. 1998
Halme A, Leppänen I, Salmi S Development of WorkPartner-robot ? design of actuating and motion control system CLAWAR´99 2nd International conference on Climbing and Walkink Robots Portsmouth, England, 13-15 Sept 1999
Halme A, Koskinen K, Aarnio V-P, Salmi S, Leppänen I and Ylönen S WORKPARTNER - FUTURE INTERACTIVE SERVICE ROBOT. STeP2000 Millenium of Artificial Intelligence, Conference, Helsinki, Finland 28-31 Aug 2000
Halme, A., Leppänen, I., Salmi, S., Ylönen, S. Hybrid locomotion of a wheel-legged machine. 3rd International Conference on Climbing and Walking Robots. Madrid Spain 2000, Professional Engineering Publishing Ltd, s. 167-173.
Aarnio, P., Koskinen, K., Salmi, S. Simulation of the hybtor robot. 3rd International Conference on Climbing and Walking Robots. Madrid Spain 2000, Professional Engineering Publishing Ltd, s. 267-274
Aarnio, P., Koskinen, K., Ylönen, S. Using simulation during development of combined manipulator and hybrid locomotion platform FSR 2001 conference Espoo, Finland 2001, June 11-13, 2001
Forsman, P Feature based registration of 3D perception data for indoor and outdoor map building FSR 2001 conference Espoo, Finland 2001, June 11-13, 2001
Halme, A., Leppänen, I., Ylönen, S., Kettunen, I. WorkPartner - Centaur like service robot for outdoor aplications FSR 2001 conference Espoo, Finland 2001, June 11-13, 2001
Selkäinaho, J., Halme A. Paanajärvi, J. Navigation system of an outdoor service robot with hybrid locomotion system FSR 2001 conference Espoo, Finland 2001, June 11-13, 2001
Ylönen, S., Leppänen, I., Salmi, S. Halme A. Hybrid locomotion of the WorkPartner service robot FSR 2001 conference Espoo, Finland 2001, June 11-13, 2001
Halme, A., Leppänen, I., Montonen, M., Ylönen, S. Robot motion by simultaneously wheel and leg propulsion 4rd International Conference on Climbing and Walking Robots. Karlsruhe, Germany, September 24-26, 2001.
back to main page of walking machines catalogue
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