Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain

Kenji Hashimoto*, Yusuke Sugahara, Akihiro Ohta, Hiroyuki Sunazuka, Chiaki Tanaka, Masamiki Kawase, Hun Ok Lim, Atsuo Takanishi

*Corresponding author for this work

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

17 Citations (Scopus)

Abstract

To date, many control methods have been researched on the assumption that the soles of a biped walking robot contact the ground as four points. It is difficult for almost all biped robots to maintain four-point-contact on uneven terrain because they have rigid and flat soles. It means that the biped robots can lose their balance. To solve this kind of problem, not only stability controls but also foot mechanisms should be studied. So, we developed a foot system, WS-1 (Waseda Shoes - No.1) that can maintain four-point-contact on uneven terrain, different from conventional foot systems. However, since WS-1 has some problems, an improved foot system, WS-1R (Waseda Shoes - No.1 Refined) is developed. Through hardware experiments, the effectiveness of WS-1 R is confirmed.

Original languageEnglish
Title of host publicationProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages226-231
Number of pages6
DOIs
Publication statusPublished - 2006
Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Duration: 2006 Feb 202006 Feb 22

Publication series

NameProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume2006

Conference

Conference1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Country/TerritoryItaly
CityPisa
Period06/2/2006/2/22

Keywords

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

ASJC Scopus subject areas

  • Engineering(all)

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