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

doi:10.1007/978-3-319-07058-2_29

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 proceeding › Conference 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 language	English
Title of host publication	Mechanisms and Machine Science
Publisher	Kluwer Academic Publishers
Pages	255-263
Number of pages	9
Volume	22
ISBN (Print)	9783319070575
DOIs	https://doi.org/10.1007/978-3-319-07058-2_29
Publication status	Published - 2014
Event	20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014 - Moscow, Russian Federation Duration: 2014 Jun 23 → 2014 Jun 26

Other

Other	20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014
Country	Russian Federation
City	Moscow
Period	14/6/23 → 14/6/26

Keywords

Foot mechanism
Ground adaptation
Humanoid robot
Uneven terrain

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering

Access to Document

10.1007/978-3-319-07058-2_29

Fingerprint Dive into the research topics of 'Terrain-adaptive biped walking control using three-point contact foot mechanism detectable ground surface'. Together they form a unique fingerprint.

Cite this

Terrain-adaptive biped walking control using three-point contact foot mechanism detectable ground surface. / Hashimoto, Kenji; Kang, Hyun Jing; Motohashi, Hiromitsu; Lim, Hun Ok; Takanishi, Atsuo.

Mechanisms and Machine Science. Vol. 22 Kluwer Academic Publishers, 2014. p. 255-263.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hashimoto, K, Kang, HJ, Motohashi, H, Lim, HO & Takanishi, A 2014, Terrain-adaptive biped walking control using three-point contact foot mechanism detectable ground surface. in Mechanisms and Machine Science. vol. 22, Kluwer Academic Publishers, pp. 255-263, 20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014, Moscow, Russian Federation, 14/6/23. https://doi.org/10.1007/978-3-319-07058-2_29

@inproceedings{7030607ab40a4c779fc277e333cae05e,

title = "Terrain-adaptive biped walking control using three-point contact foot mechanism detectable ground surface",

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.",

keywords = "Foot mechanism, Ground adaptation, Humanoid robot, Uneven terrain",

author = "Kenji Hashimoto and Kang, {Hyun Jing} and Hiromitsu Motohashi and Lim, {Hun Ok} and Atsuo Takanishi",

year = "2014",

doi = "10.1007/978-3-319-07058-2_29",

language = "English",

isbn = "9783319070575",

volume = "22",

pages = "255--263",

booktitle = "Mechanisms and Machine Science",

publisher = "Kluwer Academic Publishers",

note = "20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014 ; Conference date: 23-06-2014 Through 26-06-2014",

}

TY - GEN

T1 - Terrain-adaptive biped walking control using three-point contact foot mechanism detectable ground surface

AU - Hashimoto, Kenji

AU - Kang, Hyun Jing

AU - Motohashi, Hiromitsu

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

PY - 2014

Y1 - 2014

N2 - 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.

AB - 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.

KW - Foot mechanism

KW - Ground adaptation

KW - Humanoid robot

KW - Uneven terrain

UR - http://www.scopus.com/inward/record.url?scp=84927644232&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84927644232&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-07058-2_29

DO - 10.1007/978-3-319-07058-2_29

M3 - Conference contribution

AN - SCOPUS:84927644232

SN - 9783319070575

VL - 22

SP - 255

EP - 263

BT - Mechanisms and Machine Science

PB - Kluwer Academic Publishers

T2 - 20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014

Y2 - 23 June 2014 through 26 June 2014

ER -