Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces

Jin'ichi Yamaguchi, Atsuo Takanishi

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

    12 Citations (Scopus)

    Abstract

    In this paper, the authors introduce a multisensor foot mechanism with shock absorbing material and an adaptive biped walking control method to adapt to path surfaces with unknown shapes by utilizing the information of the landing surface, obtained by the foot mechanism. The new foot has three main functions: (1) a function to obtain the position relative to a landing surface and the gradient of the surface during its dynamic walking: (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 system WAF-3 were produced, a biped walking robot WL-12RVII that had the foot system and the adaptive walking control system installed inside it was developed, and a walking experiment with WL-12RVII was performed. As a result, dynamic biped walking adapting to humans' floors with unknown shapes was realized. The maximum walking speed was 1.28 s/step with a 0.3 m step length, and the adaptable deviation range was from -16 to +16 mm/step in the vertical direction, and from -3 to +3° in the tilt angle.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
    Editors Anon
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages233-240
    Number of pages8
    Publication statusPublished - 1996
    EventProceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems - Washington, DC, USA
    Duration: 1996 Dec 81996 Dec 11

    Other

    OtherProceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems
    CityWashington, DC, USA
    Period96/12/896/12/11

    Fingerprint

    Landing
    Robots
    Control systems
    Experiments

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Yamaguchi, J., & Takanishi, A. (1996). Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces. In Anon (Ed.), IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (pp. 233-240). Piscataway, NJ, United States: IEEE.

    Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces. / Yamaguchi, Jin'ichi; Takanishi, Atsuo.

    IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. ed. / Anon. Piscataway, NJ, United States : IEEE, 1996. p. 233-240.

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

    Yamaguchi, J & Takanishi, A 1996, Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces. in Anon (ed.), IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. IEEE, Piscataway, NJ, United States, pp. 233-240, Proceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, Washington, DC, USA, 96/12/8.
    Yamaguchi J, Takanishi A. Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces. In Anon, editor, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. Piscataway, NJ, United States: IEEE. 1996. p. 233-240
    Yamaguchi, Jin'ichi ; Takanishi, Atsuo. / Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. editor / Anon. Piscataway, NJ, United States : IEEE, 1996. pp. 233-240
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