Development of foot system of biped walking robot capable of maintaining four-point contact

Kenji Hashimoto; Takuya Hosobata; Yusuke Sugahara; Yutaka Mikuriya; Hiroyuki Sunazuka; Masamiki Kawase; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/IROS.2005.1545185

Development of foot system of biped walking robot capable of maintaining four-point contact

Kenji Hashimoto, Takuya Hosobata, Yusuke Sugahara, Yutaka Mikuriya, Hiroyuki Sunazuka, Masamiki Kawase, Hun Ok Lim, Atsuo Takanishi

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Citations (Scopus)

Abstract

To date, many control methods have been studied, assuming that the soles of a biped walking robot contact the ground as four points. It is difficult for a biped robot with rigid and flat soles to maintain four-point contact on uneven terrain. It means that the biped robot can lose its balance. To solve this kind of problem, we should study not only stability control methods but also foot mechanisms. In this paper, a new foot system, WS-1 (Waseda Shoes - No.1), is proposed to maintain four-point contact. This foot system consists of cam-type locking mechanism. WS-1 is attached to the feet of WL-16 (Waseda Leg - No.16) that is the world's first biped-walking robot capable of carrying a human. Through hardware experiments, the effectiveness of the foot system is confirmed.

Original language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Publisher	IEEE Computer Society
Pages	1361-1366
Number of pages	6
ISBN (Print)	0780389123, 9780780389120
DOIs	https://doi.org/10.1109/IROS.2005.1545185
Publication status	Published - 2005

Publication series

Name	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

Biped walking
Foot mechanism
Locking mechanism
Uneven terrain

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering
Computer Vision and Pattern Recognition
Human-Computer Interaction

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Hashimoto, K., Hosobata, T., Sugahara, Y., Mikuriya, Y., Sunazuka, H., Kawase, M., Lim, H. O., & Takanishi, A. (2005). Development of foot system of biped walking robot capable of maintaining four-point contact. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1361-1366). [1545185] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545185

Development of foot system of biped walking robot capable of maintaining four-point contact. / Hashimoto, Kenji; Hosobata, Takuya; Sugahara, Yusuke; Mikuriya, Yutaka; Sunazuka, Hiroyuki; Kawase, Masamiki; Lim, Hun Ok; Takanishi, Atsuo.

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, 2005. p. 1361-1366 1545185 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hashimoto, K, Hosobata, T, Sugahara, Y, Mikuriya, Y, Sunazuka, H, Kawase, M, Lim, HO & Takanishi, A 2005, Development of foot system of biped walking robot capable of maintaining four-point contact. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545185, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, IEEE Computer Society, pp. 1361-1366. https://doi.org/10.1109/IROS.2005.1545185

Hashimoto K, Hosobata T, Sugahara Y, Mikuriya Y, Sunazuka H, Kawase M et al. Development of foot system of biped walking robot capable of maintaining four-point contact. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society. 2005. p. 1361-1366. 1545185. (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2005.1545185

Hashimoto, Kenji ; Hosobata, Takuya ; Sugahara, Yusuke ; Mikuriya, Yutaka ; Sunazuka, Hiroyuki ; Kawase, Masamiki ; Lim, Hun Ok ; Takanishi, Atsuo. / Development of foot system of biped walking robot capable of maintaining four-point contact. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, 2005. pp. 1361-1366 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

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AU - Sunazuka, Hiroyuki

AU - Kawase, Masamiki

AU - Lim, Hun Ok

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AB - To date, many control methods have been studied, assuming that the soles of a biped walking robot contact the ground as four points. It is difficult for a biped robot with rigid and flat soles to maintain four-point contact on uneven terrain. It means that the biped robot can lose its balance. To solve this kind of problem, we should study not only stability control methods but also foot mechanisms. In this paper, a new foot system, WS-1 (Waseda Shoes - No.1), is proposed to maintain four-point contact. This foot system consists of cam-type locking mechanism. WS-1 is attached to the feet of WL-16 (Waseda Leg - No.16) that is the world's first biped-walking robot capable of carrying a human. Through hardware experiments, the effectiveness of the foot system is confirmed.

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Development of foot system of biped walking robot capable of maintaining four-point contact

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Keywords

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