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

    34 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 publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages5167-5172
    Number of pages6
    DOIs
    Publication statusPublished - 2010
    Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK
    Duration: 2010 May 32010 May 7

    Other

    Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
    CityAnchorage, AK
    Period10/5/310/5/7

    Fingerprint

    Optical sensors
    Experiments

    ASJC Scopus subject areas

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

    Cite this

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

    Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface. / Kang, Hyun Jin; Hashimoto, Kenji; Kondo, Hideki; Hattori, Kentaro; Nishikawa, Kosuke; Hama, Yuichiro; Lim, Hun Ok; Takanishi, Atsuo; Suga, Keisuke; Kato, Keisuke.

    Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 5167-5172 5509348.

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

    Kang, HJ, Hashimoto, K, Kondo, H, Hattori, K, Nishikawa, K, Hama, Y, Lim, HO, Takanishi, A, Suga, K & Kato, K 2010, Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface. in Proceedings - IEEE International Conference on Robotics and Automation., 5509348, pp. 5167-5172, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, 10/5/3. https://doi.org/10.1109/ROBOT.2010.5509348
    Kang HJ, Hashimoto K, Kondo H, Hattori K, Nishikawa K, Hama Y et al. Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface. In Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 5167-5172. 5509348 https://doi.org/10.1109/ROBOT.2010.5509348
    Kang, Hyun Jin ; Hashimoto, Kenji ; Kondo, Hideki ; Hattori, Kentaro ; Nishikawa, Kosuke ; Hama, Yuichiro ; Lim, Hun Ok ; Takanishi, Atsuo ; Suga, Keisuke ; Kato, Keisuke. / Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface. Proceedings - IEEE International Conference on Robotics and Automation. 2010. pp. 5167-5172
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