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

doi:10.1109/BIOROB.2006.1639090

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

創造理工学部

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	https://doi.org/10.1109/BIOROB.2006.1639090
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 20 → 2006 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
巻	2006

Conference

Conference	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
国	Italy
市	Pisa
期間	06/2/20 → 06/2/22

ASJC Scopus subject areas

Engineering(all)

文献にアクセス

10.1109/BIOROB.2006.1639090

フィンガープリント Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

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

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

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., 1639090, Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, 巻. 2006, pp. 226-231, 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, Pisa, Italy, 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. 2006. p. 226-231. 1639090. (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006). 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. 2006. pp. 226-231 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006).

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abstract = "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.",

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AU - Hashimoto, Kenji

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AU - Sunazuka, Hiroyuki

AU - Tanaka, Chiaki

AU - Kawase, Masamiki

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

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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.

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