Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain

Kenji Hashimoto, Yusuke Sugahara, Akihiro Ohta, Hiroyuki Sunazuka, Chiaki Tanaka, Masamiki Kawase, Hun Ok Lim, Atsuo Takanishi

研究成果: Conference contribution

16 引用 (Scopus)

抜粋

To date, many control methods have been researched on the assumption that the soles of a biped walking robot contact the ground as four points. It is difficult for almost all biped robots to maintain four-point-contact on uneven terrain because they have rigid and flat soles. It means that the biped robots can lose their balance. To solve this kind of problem, not only stability controls but also foot mechanisms should be studied. So, we developed a foot system, WS-1 (Waseda Shoes - No.1) that can maintain four-point-contact on uneven terrain, different from conventional foot systems. However, since WS-1 has some problems, an improved foot system, WS-1R (Waseda Shoes - No.1 Refined) is developed. Through hardware experiments, the effectiveness of WS-1 R is confirmed.

元の言語English
ホスト出版物のタイトルProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
ページ226-231
ページ数6
DOI
出版物ステータスPublished - 2006 12 22
イベント1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
継続期間: 2006 2 202006 2 22

出版物シリーズ

名前Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
2006

Conference

Conference1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Italy
Pisa
期間06/2/2006/2/22

ASJC Scopus subject areas

  • Engineering(all)

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  • これを引用

    Hashimoto, K., Sugahara, Y., Ohta, A., Sunazuka, H., Tanaka, C., Kawase, M., Lim, H. O., & Takanishi, A. (2006). Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain. : Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 (pp. 226-231). [1639090] (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; 巻数 2006). https://doi.org/10.1109/BIOROB.2006.1639090