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 publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages1869-1874
Number of pages6
DOIs
Publication statusPublished - 2007 Nov 27
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 2007 Apr 102007 Apr 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period07/4/1007/4/14

Keywords

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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Hashimoto, K., Sugahara, Y., Hayashi, A., Kawase, M., Sawato, T., Endo, N., Ohta, A., Tanaka, C., Lim, H. O., & Takanishi, A. (2007). New foot system adaptable to convex and concave surface. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 1869-1874). [4209358] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.363594