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 | |
| 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
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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