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

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

    16 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
    Volume2006
    DOIs
    Publication statusPublished - 2006
    Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa
    Duration: 2006 Feb 202006 Feb 22

    Other

    Other1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
    CityPisa
    Period06/2/2006/2/22

    Fingerprint

    Point contacts
    Robots
    Hardware
    Experiments

    Keywords

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

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Hashimoto, K., Sugahara, Y., Ohta, A., Sunazuka, H., Tanaka, C., Kawase, M., ... Takanishi, A. (2006). Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 (Vol. 2006, pp. 226-231). [1639090] https://doi.org/10.1109/BIOROB.2006.1639090

    Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain. / Hashimoto, Kenji; Sugahara, Yusuke; Ohta, Akihiro; Sunazuka, Hiroyuki; Tanaka, Chiaki; Kawase, Masamiki; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. Vol. 2006 2006. p. 226-231 1639090.

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

    Hashimoto, K, Sugahara, Y, Ohta, A, Sunazuka, H, Tanaka, C, Kawase, M, Lim, HO & Takanishi, A 2006, Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain. in Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. vol. 2006, 1639090, pp. 226-231, 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, Pisa, 06/2/20. https://doi.org/10.1109/BIOROB.2006.1639090
    Hashimoto K, Sugahara Y, Ohta A, Sunazuka H, Tanaka C, Kawase M et al. Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. Vol. 2006. 2006. p. 226-231. 1639090 https://doi.org/10.1109/BIOROB.2006.1639090
    Hashimoto, Kenji ; Sugahara, Yusuke ; Ohta, Akihiro ; Sunazuka, Hiroyuki ; Tanaka, Chiaki ; Kawase, Masamiki ; Lim, Hun Ok ; Takanishi, Atsuo. / Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain. Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. Vol. 2006 2006. pp. 226-231
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