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: Paper査読

12 被引用数 (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.

本文言語English
ページ233-240
ページ数8
出版ステータスPublished - 1996 12 1
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
CityWashington, DC, USA
Period96/12/896/12/11

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学

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