Terrain-adaptive biped walking control using three-point contact foot mechanism detectable ground surface

Kenji Hashimoto, Hyun Jing Kang, Hiromitsu Motohashi, Hun Ok Lim, Atsuo Takanishi

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

2 Citations (Scopus)

Abstract

In this study we describe a terrain-adaptive biped walking control using a new biped foot mechanism with the capability of detecting ground surface. The foot system consists of three spikes each of which has an optical sensor to detect ground height. A robot modifies a foot-landing motion along the vertical axis and about pitch and roll axes according to sensor values, and this enables the robot to walk on unknown uneven terrain. Verification of the proposed control was conducted through experiments with a human-sized humanoid robot WABIAN-2R.

Original languageEnglish
Title of host publicationAdvances on Theory and Practice of Robots and Manipulators - Proceedings of ROMANSY 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators
EditorsVictor A. Glazunov, Marco Ceccarelli
PublisherKluwer Academic Publishers
Pages255-263
Number of pages9
ISBN (Electronic)9783319070575
DOIs
Publication statusPublished - 2014
Event20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014 - Moscow, Russian Federation
Duration: 2014 Jun 232014 Jun 26

Publication series

NameMechanisms and Machine Science
Volume22
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Other

Other20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014
CountryRussian Federation
CityMoscow
Period14/6/2314/6/26

Keywords

  • Foot mechanism
  • Ground adaptation
  • Humanoid robot
  • Uneven terrain

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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