Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface

Hyun Jin Kang, Kenji Hashimoto, Hideki Kondo, Kentaro Hattori, Kosuke Nishikawa, Yuichiro Hama, Hun Ok Lim, Atsuo Takanishi, Keisuke Suga, Keisuke Kato

研究成果: Conference contribution

37 引用 (Scopus)

抜粋

We have developed a new biped foot mechanism capable of detecting ground surface to realize stable walking on uneven terrain. The size of the foot mechanism is 160 mm x 277 mm and its weight is 1.5 kg. The foot system consists of four spikes each of which has an optical sensor to detect ground height. The foot makes a support polygon on uneven terrain by using three or four spikes. We have conducted several experiments on the outdoor ground surface that has a slope of 7.0 degrees and a maximum height of 15 mm bumps, and the effectiveness of the foot mechanism is confirmed.

元の言語English
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Automation, ICRA 2010
ページ5167-5172
ページ数6
DOI
出版物ステータスPublished - 2010 8 26
イベント2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
継続期間: 2010 5 32010 5 7

出版物シリーズ

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

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
United States
Anchorage, AK
期間10/5/310/5/7

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • これを引用

    Kang, H. J., Hashimoto, K., Kondo, H., Hattori, K., Nishikawa, K., Hama, Y., Lim, H. O., Takanishi, A., Suga, K., & Kato, K. (2010). Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface. : 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 5167-5172). [5509348] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509348