Development of foot system of biped walking robot capable of maintaining four-point contact

Kenji Hashimoto*, Takuya Hosobata, Yusuke Sugahara, Yutaka Mikuriya, Hiroyuki Sunazuka, Masamiki Kawase, Hun Ok Lim, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference contribution

16 被引用数 (Scopus)

抄録

To date, many control methods have been studied, assuming that the soles of a biped walking robot contact the ground as four points. It is difficult for a biped robot with rigid and flat soles to maintain four-point contact on uneven terrain. It means that the biped robot can lose its balance. To solve this kind of problem, we should study not only stability control methods but also foot mechanisms. In this paper, a new foot system, WS-1 (Waseda Shoes - No.1), is proposed to maintain four-point contact. This foot system consists of cam-type locking mechanism. WS-1 is attached to the feet of WL-16 (Waseda Leg - No.16) that is the world's first biped-walking robot capable of carrying a human. Through hardware experiments, the effectiveness of the foot system is confirmed.

本文言語English
ホスト出版物のタイトル2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
出版社IEEE Computer Society
ページ1361-1366
ページ数6
ISBN(印刷版)0780389123, 9780780389120
DOI
出版ステータスPublished - 2005

出版物シリーズ

名前2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ASJC Scopus subject areas

  • 人工知能
  • 制御およびシステム工学
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用

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