@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",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2014. Copyright: Copyright 2015 Elsevier B.V., All rights reserved.; 20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014 ; Conference date: 23-06-2014 Through 26-06-2014",
year = "2014",
doi = "10.1007/978-3-319-07058-2_29",
language = "English",
series = "Mechanisms and Machine Science",
publisher = "Kluwer Academic Publishers",
pages = "255--263",
editor = "Glazunov, {Victor A.} and Marco Ceccarelli",
booktitle = "Advances on Theory and Practice of Robots and Manipulators - Proceedings of ROMANSY 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators",
}