Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface

Hyun Jin Kang, Kenji Hashimoto, Hideki Kondo, Kentaro Hattori, Kosuke Nishikawa, Yuichiro Hama, Hun Ok Lim, Atsuo Takanishi, Keisuke Suga, Keisuke Kato

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

37 Citations (Scopus)

Abstract

We have developed a new biped foot mechanism capable of detecting ground surface to realize stable walking on uneven terrain. The size of the foot mechanism is 160 mm x 277 mm and its weight is 1.5 kg. The foot system consists of four spikes each of which has an optical sensor to detect ground height. The foot makes a support polygon on uneven terrain by using three or four spikes. We have conducted several experiments on the outdoor ground surface that has a slope of 7.0 degrees and a maximum height of 15 mm bumps, and the effectiveness of the foot mechanism is confirmed.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages5167-5172
Number of pages6
DOIs
Publication statusPublished - 2010 Aug 26
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 2010 May 32010 May 7

Publication series

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

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period10/5/310/5/7

ASJC Scopus subject areas

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

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  • Cite this

    Kang, H. J., Hashimoto, K., Kondo, H., Hattori, K., Nishikawa, K., Hama, Y., Lim, H. O., Takanishi, A., Suga, K., & Kato, K. (2010). Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 5167-5172). [5509348] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509348