Development of a biped walking robot adapting to a horizontally uneven surface

Jin ichi Yamaguchi, Atsuo Takanishi, Ichiro Kato

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    44 Citations (Scopus)

    Abstract

    In this paper, as the first stage of the biped walking adapting to an uneven surface using an anthropomorphic biped walking robot, the authors introduce a biped walking control method for adapting to a surface that is called a Horizontally Composed (HC) plane whose steps' height is unknown, and an special foot mechanism which is capable of shock absorbing using viscous elastomer for a HC-plane whose steps' height is unknown. The authors developed an anthropomorphic biped walking robot with the foot mechanism and performed walking experiments with the robot using the control method. As a result, adaptive dynamic biped walking over a step of unknown height was realized. The maximum walking speed was 0.96 sec per step with a 0.3 m step length, and the greatest step height was 12 mm. The authors believe that the adaptability is integral to an anthropomorphic robot that will support human living in the near future. The authors call the robot Humanoid. Study on the Humanoid is being done as the Project: Humanoid at HUREL (HUmanoid REsearch Laboratory), Advanced Research Center for Science and Engineering, Waseda University.

    Original languageEnglish
    Title of host publicationIEEE/RSJ/GI International Conference on Intelligent Robots and Systems
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages1156-1163
    Number of pages8
    Volume2
    Publication statusPublished - 1994
    EventProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger
    Duration: 1994 Sep 121994 Sep 16

    Other

    OtherProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
    CityMunich, Ger
    Period94/9/1294/9/16

    Fingerprint

    Robots
    Anthropomorphic robots
    Research laboratories
    Elastomers
    Experiments

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Yamaguchi, J. I., Takanishi, A., & Kato, I. (1994). Development of a biped walking robot adapting to a horizontally uneven surface. In IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (Vol. 2, pp. 1156-1163). Piscataway, NJ, United States: IEEE.

    Development of a biped walking robot adapting to a horizontally uneven surface. / Yamaguchi, Jin ichi; Takanishi, Atsuo; Kato, Ichiro.

    IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Vol. 2 Piscataway, NJ, United States : IEEE, 1994. p. 1156-1163.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Yamaguchi, JI, Takanishi, A & Kato, I 1994, Development of a biped walking robot adapting to a horizontally uneven surface. in IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. vol. 2, IEEE, Piscataway, NJ, United States, pp. 1156-1163, Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3), Munich, Ger, 94/9/12.
    Yamaguchi JI, Takanishi A, Kato I. Development of a biped walking robot adapting to a horizontally uneven surface. In IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Vol. 2. Piscataway, NJ, United States: IEEE. 1994. p. 1156-1163
    Yamaguchi, Jin ichi ; Takanishi, Atsuo ; Kato, Ichiro. / Development of a biped walking robot adapting to a horizontally uneven surface. IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Vol. 2 Piscataway, NJ, United States : IEEE, 1994. pp. 1156-1163
    @inproceedings{8fc363e7047d4ec4ac194d317881cd8e,
    title = "Development of a biped walking robot adapting to a horizontally uneven surface",
    abstract = "In this paper, as the first stage of the biped walking adapting to an uneven surface using an anthropomorphic biped walking robot, the authors introduce a biped walking control method for adapting to a surface that is called a Horizontally Composed (HC) plane whose steps' height is unknown, and an special foot mechanism which is capable of shock absorbing using viscous elastomer for a HC-plane whose steps' height is unknown. The authors developed an anthropomorphic biped walking robot with the foot mechanism and performed walking experiments with the robot using the control method. As a result, adaptive dynamic biped walking over a step of unknown height was realized. The maximum walking speed was 0.96 sec per step with a 0.3 m step length, and the greatest step height was 12 mm. The authors believe that the adaptability is integral to an anthropomorphic robot that will support human living in the near future. The authors call the robot Humanoid. Study on the Humanoid is being done as the Project: Humanoid at HUREL (HUmanoid REsearch Laboratory), Advanced Research Center for Science and Engineering, Waseda University.",
    author = "Yamaguchi, {Jin ichi} and Atsuo Takanishi and Ichiro Kato",
    year = "1994",
    language = "English",
    volume = "2",
    pages = "1156--1163",
    booktitle = "IEEE/RSJ/GI International Conference on Intelligent Robots and Systems",
    publisher = "IEEE",

    }

    TY - GEN

    T1 - Development of a biped walking robot adapting to a horizontally uneven surface

    AU - Yamaguchi, Jin ichi

    AU - Takanishi, Atsuo

    AU - Kato, Ichiro

    PY - 1994

    Y1 - 1994

    N2 - In this paper, as the first stage of the biped walking adapting to an uneven surface using an anthropomorphic biped walking robot, the authors introduce a biped walking control method for adapting to a surface that is called a Horizontally Composed (HC) plane whose steps' height is unknown, and an special foot mechanism which is capable of shock absorbing using viscous elastomer for a HC-plane whose steps' height is unknown. The authors developed an anthropomorphic biped walking robot with the foot mechanism and performed walking experiments with the robot using the control method. As a result, adaptive dynamic biped walking over a step of unknown height was realized. The maximum walking speed was 0.96 sec per step with a 0.3 m step length, and the greatest step height was 12 mm. The authors believe that the adaptability is integral to an anthropomorphic robot that will support human living in the near future. The authors call the robot Humanoid. Study on the Humanoid is being done as the Project: Humanoid at HUREL (HUmanoid REsearch Laboratory), Advanced Research Center for Science and Engineering, Waseda University.

    AB - In this paper, as the first stage of the biped walking adapting to an uneven surface using an anthropomorphic biped walking robot, the authors introduce a biped walking control method for adapting to a surface that is called a Horizontally Composed (HC) plane whose steps' height is unknown, and an special foot mechanism which is capable of shock absorbing using viscous elastomer for a HC-plane whose steps' height is unknown. The authors developed an anthropomorphic biped walking robot with the foot mechanism and performed walking experiments with the robot using the control method. As a result, adaptive dynamic biped walking over a step of unknown height was realized. The maximum walking speed was 0.96 sec per step with a 0.3 m step length, and the greatest step height was 12 mm. The authors believe that the adaptability is integral to an anthropomorphic robot that will support human living in the near future. The authors call the robot Humanoid. Study on the Humanoid is being done as the Project: Humanoid at HUREL (HUmanoid REsearch Laboratory), Advanced Research Center for Science and Engineering, Waseda University.

    UR - http://www.scopus.com/inward/record.url?scp=0028742642&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=0028742642&partnerID=8YFLogxK

    M3 - Conference contribution

    VL - 2

    SP - 1156

    EP - 1163

    BT - IEEE/RSJ/GI International Conference on Intelligent Robots and Systems

    PB - IEEE

    CY - Piscataway, NJ, United States

    ER -