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)

    抄録

    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
    巻2006
    DOI
    出版物ステータスPublished - 2006
    イベント1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa
    継続期間: 2006 2 20 → 2006 2 22

    Other

    Other1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
    市Pisa
    期間06/2/20 → 06/2/22

    Fingerprint

    Point contacts
    Robots
    Hardware
    Experiments

    ASJC Scopus subject areas

    • Engineering(all)

    これを引用

    Hashimoto, K., Sugahara, Y., Ohta, A., Sunazuka, H., Tanaka, C., Kawase, M., ... 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 (巻 2006, pp. 226-231). [1639090] https://doi.org/10.1109/BIOROB.2006.1639090

    Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain. / Hashimoto, Kenji; Sugahara, Yusuke; Ohta, Akihiro; Sunazuka, Hiroyuki; Tanaka, Chiaki; Kawase, Masamiki; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 巻 2006 2006. p. 226-231 1639090.

    研究成果: Conference contribution

    Hashimoto, K, Sugahara, Y, Ohta, A, Sunazuka, H, Tanaka, C, Kawase, M, Lim, HO & 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. 巻. 2006, 1639090, pp. 226-231, 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, Pisa, 06/2/20. https://doi.org/10.1109/BIOROB.2006.1639090
    Hashimoto K, Sugahara Y, Ohta A, Sunazuka H, Tanaka C, Kawase M その他. 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. 巻 2006. 2006. p. 226-231. 1639090 https://doi.org/10.1109/BIOROB.2006.1639090
    Hashimoto, Kenji ; Sugahara, Yusuke ; Ohta, Akihiro ; Sunazuka, Hiroyuki ; Tanaka, Chiaki ; Kawase, Masamiki ; Lim, Hun Ok ; Takanishi, Atsuo. / 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. 巻 2006 2006. pp. 226-231
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