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 publicationMechanisms and Machine Science
    PublisherKluwer Academic Publishers
    Pages255-263
    Number of pages9
    Volume22
    ISBN (Print)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

    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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  • Cite this

    Hashimoto, K., Kang, H. J., Motohashi, H., Lim, H. O., & Takanishi, A. (2014). Terrain-adaptive biped walking control using three-point contact foot mechanism detectable ground surface. In Mechanisms and Machine Science (Vol. 22, pp. 255-263). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-07058-2_29