New foot system adaptable to convex and concave surface

Kenji Hashimoto, Yusuke Sugahara, Akihiro Hayashi, Masamiki Kawase, Terumasa Sawato, Nobutsuna Endo, Akihiro Ohta, Chiaki Tanaka, Hun Ok Lim, Atsuo Takanishi

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

    20 Citations (Scopus)

    Abstract

    Many control methods have been studied on the assumption that the feet of biped robots contact the ground with four points. However, it is difficult for almost all of such biped robots to maintain four-point contact on uneven terrains because they have rigid and flat soles. In order to solve the problem, foot mechanisms should be studied. In 2003, we developed WS-1R (Waseda Shoes - No.1 Refined) which is able to maintain four-point contact. However, it is difficult to deal with the concave or convex ground because of the problems of the contact detection and sideways slip. So, WS-5 (Waseda Shoes - No.5) has been developed. To avoid the slip of the foot, a cam-slider locking system consisting of a solenoid and a cam is constructed and installed at the foot. Also, linear encoders are employed to measure the position of the foot sliders. Through walking experiments on uneven terrains, the effectiveness of WS-5 is confirmed.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages1869-1874
    Number of pages6
    DOIs
    Publication statusPublished - 2007
    Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome
    Duration: 2007 Apr 102007 Apr 14

    Other

    Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
    CityRome
    Period07/4/1007/4/14

    Fingerprint

    Cams
    Point contacts
    Robots
    Solenoids
    Experiments

    Keywords

    • Biped walking
    • Foot mechanism
    • Locking mechanism
    • Uneven terrain

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Hashimoto, K., Sugahara, Y., Hayashi, A., Kawase, M., Sawato, T., Endo, N., ... Takanishi, A. (2007). New foot system adaptable to convex and concave surface. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1869-1874). [4209358] https://doi.org/10.1109/ROBOT.2007.363594

    New foot system adaptable to convex and concave surface. / Hashimoto, Kenji; Sugahara, Yusuke; Hayashi, Akihiro; Kawase, Masamiki; Sawato, Terumasa; Endo, Nobutsuna; Ohta, Akihiro; Tanaka, Chiaki; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 1869-1874 4209358.

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

    Hashimoto, K, Sugahara, Y, Hayashi, A, Kawase, M, Sawato, T, Endo, N, Ohta, A, Tanaka, C, Lim, HO & Takanishi, A 2007, New foot system adaptable to convex and concave surface. in Proceedings - IEEE International Conference on Robotics and Automation., 4209358, pp. 1869-1874, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, 07/4/10. https://doi.org/10.1109/ROBOT.2007.363594
    Hashimoto K, Sugahara Y, Hayashi A, Kawase M, Sawato T, Endo N et al. New foot system adaptable to convex and concave surface. In Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 1869-1874. 4209358 https://doi.org/10.1109/ROBOT.2007.363594
    Hashimoto, Kenji ; Sugahara, Yusuke ; Hayashi, Akihiro ; Kawase, Masamiki ; Sawato, Terumasa ; Endo, Nobutsuna ; Ohta, Akihiro ; Tanaka, Chiaki ; Lim, Hun Ok ; Takanishi, Atsuo. / New foot system adaptable to convex and concave surface. Proceedings - IEEE International Conference on Robotics and Automation. 2007. pp. 1869-1874
    @inproceedings{7bb6d107372e43a599150dcdec6568d6,
    title = "New foot system adaptable to convex and concave surface",
    abstract = "Many control methods have been studied on the assumption that the feet of biped robots contact the ground with four points. However, it is difficult for almost all of such biped robots to maintain four-point contact on uneven terrains because they have rigid and flat soles. In order to solve the problem, foot mechanisms should be studied. In 2003, we developed WS-1R (Waseda Shoes - No.1 Refined) which is able to maintain four-point contact. However, it is difficult to deal with the concave or convex ground because of the problems of the contact detection and sideways slip. So, WS-5 (Waseda Shoes - No.5) has been developed. To avoid the slip of the foot, a cam-slider locking system consisting of a solenoid and a cam is constructed and installed at the foot. Also, linear encoders are employed to measure the position of the foot sliders. Through walking experiments on uneven terrains, the effectiveness of WS-5 is confirmed.",
    keywords = "Biped walking, Foot mechanism, Locking mechanism, Uneven terrain",
    author = "Kenji Hashimoto and Yusuke Sugahara and Akihiro Hayashi and Masamiki Kawase and Terumasa Sawato and Nobutsuna Endo and Akihiro Ohta and Chiaki Tanaka and Lim, {Hun Ok} and Atsuo Takanishi",
    year = "2007",
    doi = "10.1109/ROBOT.2007.363594",
    language = "English",
    isbn = "1424406021",
    pages = "1869--1874",
    booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

    }

    TY - GEN

    T1 - New foot system adaptable to convex and concave surface

    AU - Hashimoto, Kenji

    AU - Sugahara, Yusuke

    AU - Hayashi, Akihiro

    AU - Kawase, Masamiki

    AU - Sawato, Terumasa

    AU - Endo, Nobutsuna

    AU - Ohta, Akihiro

    AU - Tanaka, Chiaki

    AU - Lim, Hun Ok

    AU - Takanishi, Atsuo

    PY - 2007

    Y1 - 2007

    N2 - Many control methods have been studied on the assumption that the feet of biped robots contact the ground with four points. However, it is difficult for almost all of such biped robots to maintain four-point contact on uneven terrains because they have rigid and flat soles. In order to solve the problem, foot mechanisms should be studied. In 2003, we developed WS-1R (Waseda Shoes - No.1 Refined) which is able to maintain four-point contact. However, it is difficult to deal with the concave or convex ground because of the problems of the contact detection and sideways slip. So, WS-5 (Waseda Shoes - No.5) has been developed. To avoid the slip of the foot, a cam-slider locking system consisting of a solenoid and a cam is constructed and installed at the foot. Also, linear encoders are employed to measure the position of the foot sliders. Through walking experiments on uneven terrains, the effectiveness of WS-5 is confirmed.

    AB - Many control methods have been studied on the assumption that the feet of biped robots contact the ground with four points. However, it is difficult for almost all of such biped robots to maintain four-point contact on uneven terrains because they have rigid and flat soles. In order to solve the problem, foot mechanisms should be studied. In 2003, we developed WS-1R (Waseda Shoes - No.1 Refined) which is able to maintain four-point contact. However, it is difficult to deal with the concave or convex ground because of the problems of the contact detection and sideways slip. So, WS-5 (Waseda Shoes - No.5) has been developed. To avoid the slip of the foot, a cam-slider locking system consisting of a solenoid and a cam is constructed and installed at the foot. Also, linear encoders are employed to measure the position of the foot sliders. Through walking experiments on uneven terrains, the effectiveness of WS-5 is confirmed.

    KW - Biped walking

    KW - Foot mechanism

    KW - Locking mechanism

    KW - Uneven terrain

    UR - http://www.scopus.com/inward/record.url?scp=36348983291&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=36348983291&partnerID=8YFLogxK

    U2 - 10.1109/ROBOT.2007.363594

    DO - 10.1109/ROBOT.2007.363594

    M3 - Conference contribution

    AN - SCOPUS:36348983291

    SN - 1424406021

    SN - 9781424406029

    SP - 1869

    EP - 1874

    BT - Proceedings - IEEE International Conference on Robotics and Automation

    ER -