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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages1361-1366
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 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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  • Cite this

    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