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 |
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Keywords
- Foot mechanism
- Ground adaptation
- Humanoid robot
- Uneven terrain
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
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
}
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
ER -