Experimental development of a foot mechanism with shock absorbing material for acquisition of landing surface position information and stabilization of dynamic biped walking

Jin'ichi Yamaguchi, Atsuo Takanishi, Ichiro Kato

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

    59 Citations (Scopus)

    Abstract

    As the first stage of dynamic biped walking adapting to an unknown uneven surface using an anthropomorphic biped walking robot, this paper introduces a special foot mechanism with shock absorbing material that stabilizes dynamic biped walking and acquires position information on the landing surface. The new foot has three functions: (1) a function to obtain information on the position relative to a landing surface; (2) a function to absorb the shock of the foot landing; (3) a function to stabilize changes in the support leg. Two units of the foot mechanism were produced, a biped walking robot WL-12RVI that had the foot mechanism installed inside it was developed, and a walking experiment with WL-12RVI was performed. As a result, decreased vibration around the pitch axis, decreased torque demands on ankle actuators on the pitch axis, increased dynamic biped walking success probability, and acquired landing surface information were achieved.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages2892-2899
    Number of pages8
    Volume3
    DOIs
    Publication statusPublished - 1995
    EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
    Duration: 1995 May 211995 May 27

    Other

    OtherProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
    CityNagoya, Jpn
    Period95/5/2195/5/27

    Fingerprint

    Landing
    Stabilization
    Robots
    Actuators
    Torque
    Experiments

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Experimental development of a foot mechanism with shock absorbing material for acquisition of landing surface position information and stabilization of dynamic biped walking. / Yamaguchi, Jin'ichi; Takanishi, Atsuo; Kato, Ichiro.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 1995. p. 2892-2899.

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

    Yamaguchi, J, Takanishi, A & Kato, I 1995, Experimental development of a foot mechanism with shock absorbing material for acquisition of landing surface position information and stabilization of dynamic biped walking. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 3, pp. 2892-2899, Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3), Nagoya, Jpn, 95/5/21. https://doi.org/10.1109/ROBOT.1995.525694
    Yamaguchi, Jin'ichi ; Takanishi, Atsuo ; Kato, Ichiro. / Experimental development of a foot mechanism with shock absorbing material for acquisition of landing surface position information and stabilization of dynamic biped walking. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 1995. pp. 2892-2899
    @inproceedings{f61867ae5a054ea38955ff7ff1243327,
    title = "Experimental development of a foot mechanism with shock absorbing material for acquisition of landing surface position information and stabilization of dynamic biped walking",
    abstract = "As the first stage of dynamic biped walking adapting to an unknown uneven surface using an anthropomorphic biped walking robot, this paper introduces a special foot mechanism with shock absorbing material that stabilizes dynamic biped walking and acquires position information on the landing surface. The new foot has three functions: (1) a function to obtain information on the position relative to a landing surface; (2) a function to absorb the shock of the foot landing; (3) a function to stabilize changes in the support leg. Two units of the foot mechanism were produced, a biped walking robot WL-12RVI that had the foot mechanism installed inside it was developed, and a walking experiment with WL-12RVI was performed. As a result, decreased vibration around the pitch axis, decreased torque demands on ankle actuators on the pitch axis, increased dynamic biped walking success probability, and acquired landing surface information were achieved.",
    author = "Jin'ichi Yamaguchi and Atsuo Takanishi and Ichiro Kato",
    year = "1995",
    doi = "10.1109/ROBOT.1995.525694",
    language = "English",
    isbn = "0780319656",
    volume = "3",
    pages = "2892--2899",
    booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

    }

    TY - GEN

    T1 - Experimental development of a foot mechanism with shock absorbing material for acquisition of landing surface position information and stabilization of dynamic biped walking

    AU - Yamaguchi, Jin'ichi

    AU - Takanishi, Atsuo

    AU - Kato, Ichiro

    PY - 1995

    Y1 - 1995

    N2 - As the first stage of dynamic biped walking adapting to an unknown uneven surface using an anthropomorphic biped walking robot, this paper introduces a special foot mechanism with shock absorbing material that stabilizes dynamic biped walking and acquires position information on the landing surface. The new foot has three functions: (1) a function to obtain information on the position relative to a landing surface; (2) a function to absorb the shock of the foot landing; (3) a function to stabilize changes in the support leg. Two units of the foot mechanism were produced, a biped walking robot WL-12RVI that had the foot mechanism installed inside it was developed, and a walking experiment with WL-12RVI was performed. As a result, decreased vibration around the pitch axis, decreased torque demands on ankle actuators on the pitch axis, increased dynamic biped walking success probability, and acquired landing surface information were achieved.

    AB - As the first stage of dynamic biped walking adapting to an unknown uneven surface using an anthropomorphic biped walking robot, this paper introduces a special foot mechanism with shock absorbing material that stabilizes dynamic biped walking and acquires position information on the landing surface. The new foot has three functions: (1) a function to obtain information on the position relative to a landing surface; (2) a function to absorb the shock of the foot landing; (3) a function to stabilize changes in the support leg. Two units of the foot mechanism were produced, a biped walking robot WL-12RVI that had the foot mechanism installed inside it was developed, and a walking experiment with WL-12RVI was performed. As a result, decreased vibration around the pitch axis, decreased torque demands on ankle actuators on the pitch axis, increased dynamic biped walking success probability, and acquired landing surface information were achieved.

    UR - http://www.scopus.com/inward/record.url?scp=0029191907&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=0029191907&partnerID=8YFLogxK

    U2 - 10.1109/ROBOT.1995.525694

    DO - 10.1109/ROBOT.1995.525694

    M3 - Conference contribution

    SN - 0780319656

    VL - 3

    SP - 2892

    EP - 2899

    BT - Proceedings - IEEE International Conference on Robotics and Automation

    ER -