Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces

Jin'ichi Yamaguchi, Atsuo Takanishi

    研究成果: Conference contribution

    12 引用 (Scopus)

    抄録

    In this paper, the authors introduce a multisensor foot mechanism with shock absorbing material and an adaptive biped walking control method to adapt to path surfaces with unknown shapes by utilizing the information of the landing surface, obtained by the foot mechanism. The new foot has three main functions: (1) a function to obtain the position relative to a landing surface and the gradient of the surface during its dynamic walking: (2) a function to absorb the shock of the foot landing; (3) a function to stabilize changes in the support leg. Two units of the foot system WAF-3 were produced, a biped walking robot WL-12RVII that had the foot system and the adaptive walking control system installed inside it was developed, and a walking experiment with WL-12RVII was performed. As a result, dynamic biped walking adapting to humans' floors with unknown shapes was realized. The maximum walking speed was 1.28 s/step with a 0.3 m step length, and the adaptable deviation range was from -16 to +16 mm/step in the vertical direction, and from -3 to +3° in the tilt angle.

    元の言語English
    ホスト出版物のタイトルIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
    編集者 Anon
    出版場所Piscataway, NJ, United States
    出版者IEEE
    ページ233-240
    ページ数8
    出版物ステータスPublished - 1996
    イベントProceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems - Washington, DC, USA
    継続期間: 1996 12 81996 12 11

    Other

    OtherProceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems
    Washington, DC, USA
    期間96/12/896/12/11

    Fingerprint

    Landing
    Robots
    Control systems
    Experiments

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    これを引用

    Yamaguchi, J., & Takanishi, A. (1996). Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces. : Anon (版), IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (pp. 233-240). Piscataway, NJ, United States: IEEE.

    Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces. / Yamaguchi, Jin'ichi; Takanishi, Atsuo.

    IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. 版 / Anon. Piscataway, NJ, United States : IEEE, 1996. p. 233-240.

    研究成果: Conference contribution

    Yamaguchi, J & Takanishi, A 1996, Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces. : Anon (版), IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. IEEE, Piscataway, NJ, United States, pp. 233-240, Proceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, Washington, DC, USA, 96/12/8.
    Yamaguchi J, Takanishi A. Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces. : Anon, 編集者, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. Piscataway, NJ, United States: IEEE. 1996. p. 233-240
    Yamaguchi, Jin'ichi ; Takanishi, Atsuo. / Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. 編集者 / Anon. Piscataway, NJ, United States : IEEE, 1996. pp. 233-240
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    abstract = "In this paper, the authors introduce a multisensor foot mechanism with shock absorbing material and an adaptive biped walking control method to adapt to path surfaces with unknown shapes by utilizing the information of the landing surface, obtained by the foot mechanism. The new foot has three main functions: (1) a function to obtain the position relative to a landing surface and the gradient of the surface during its dynamic walking: (2) a function to absorb the shock of the foot landing; (3) a function to stabilize changes in the support leg. Two units of the foot system WAF-3 were produced, a biped walking robot WL-12RVII that had the foot system and the adaptive walking control system installed inside it was developed, and a walking experiment with WL-12RVII was performed. As a result, dynamic biped walking adapting to humans' floors with unknown shapes was realized. The maximum walking speed was 1.28 s/step with a 0.3 m step length, and the adaptable deviation range was from -16 to +16 mm/step in the vertical direction, and from -3 to +3° in the tilt angle.",
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