New foot system adaptable to convex and concave surface

Kenji Hashimoto*, Yusuke Sugahara, Akihiro Hayashi, Masamiki Kawase, Terumasa Sawato, Nobutsuna Endo, Akihiro Ohta, Chiaki Tanaka, Hun Ok Lim, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference contribution

20 被引用数 (Scopus)

抄録

Many control methods have been studied on the assumption that the feet of biped robots contact the ground with four points. However, it is difficult for almost all of such biped robots to maintain four-point contact on uneven terrains because they have rigid and flat soles. In order to solve the problem, foot mechanisms should be studied. In 2003, we developed WS-1R (Waseda Shoes - No.1 Refined) which is able to maintain four-point contact. However, it is difficult to deal with the concave or convex ground because of the problems of the contact detection and sideways slip. So, WS-5 (Waseda Shoes - No.5) has been developed. To avoid the slip of the foot, a cam-slider locking system consisting of a solenoid and a cam is constructed and installed at the foot. Also, linear encoders are employed to measure the position of the foot sliders. Through walking experiments on uneven terrains, the effectiveness of WS-5 is confirmed.

本文言語English
ホスト出版物のタイトル2007 IEEE International Conference on Robotics and Automation, ICRA'07
ページ1869-1874
ページ数6
DOI
出版ステータスPublished - 2007
イベント2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
継続期間: 2007 4月 102007 4月 14

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
国/地域Italy
CityRome
Period07/4/1007/4/14

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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