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

*この研究の対応する著者

研究成果: Conference contribution

40 被引用数 (Scopus)

抄録

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.

本文言語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
出版ステータスPublished - 2010 8月 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月 32010 5月 7

出版物シリーズ

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

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
国/地域United States
CityAnchorage, AK
Period10/5/310/5/7

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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