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 |
| Pages | 1464-1469 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2005 |
| Event | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB Duration: 2005 Aug 2 → 2005 Aug 6 |
Other
| Other | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 |
|---|---|
| City | Edmonton, AB |
| Period | 05/8/2 → 05/8/6 |
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Keywords
- Biped walking
- Foot mechanism
- Locking mechanism
- Uneven terrain
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
- Control and Systems Engineering
Cite this
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. 2005. p. 1464-1469 1545185.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Development of foot system of biped walking robot capable of maintaining four-point contact
AU - Hashimoto, Kenji
AU - Hosobata, Takuya
AU - Sugahara, Yusuke
AU - Mikuriya, Yutaka
AU - Sunazuka, Hiroyuki
AU - Kawase, Masamiki
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2005
Y1 - 2005
N2 - 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.
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.
KW - Biped walking
KW - Foot mechanism
KW - Locking mechanism
KW - Uneven terrain
UR - http://www.scopus.com/inward/record.url?scp=33845592028&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845592028&partnerID=8YFLogxK
U2 - 10.1109/IROS.2005.1545185
DO - 10.1109/IROS.2005.1545185
M3 - Conference contribution
SN - 0780389123
SN - 9780780389120
SP - 1464
EP - 1469
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ER -