TY - GEN
T1 - Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain
AU - Hashimoto, Kenji
AU - Sugahara, Yusuke
AU - Ohta, Akihiro
AU - Sunazuka, Hiroyuki
AU - Tanaka, Chiaki
AU - Kawase, Masamiki
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - Biped walking
KW - Foot mechanism
KW - Locking mechanism
KW - Uneven terrain
UR - http://www.scopus.com/inward/record.url?scp=33845595032&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845595032&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2006.1639090
DO - 10.1109/BIOROB.2006.1639090
M3 - Conference contribution
AN - SCOPUS:33845595032
SN - 1424400406
SN - 9781424400409
T3 - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
SP - 226
EP - 231
BT - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
T2 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Y2 - 20 February 2006 through 22 February 2006
ER -