Terrain-adaptive biped walking control using three-point contact foot mechanism detectable ground surface

Kenji Hashimoto*, Hyun Jing Kang, Hiromitsu Motohashi, Hun Ok Lim, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

In this study we describe a terrain-adaptive biped walking control using a new biped foot mechanism with the capability of detecting ground surface. The foot system consists of three spikes each of which has an optical sensor to detect ground height. A robot modifies a foot-landing motion along the vertical axis and about pitch and roll axes according to sensor values, and this enables the robot to walk on unknown uneven terrain. Verification of the proposed control was conducted through experiments with a human-sized humanoid robot WABIAN-2R.

本文言語English
ホスト出版物のタイトルAdvances on Theory and Practice of Robots and Manipulators - Proceedings of ROMANSY 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators
編集者Victor A. Glazunov, Marco Ceccarelli
出版社Kluwer Academic Publishers
ページ255-263
ページ数9
ISBN(電子版)9783319070575
DOI
出版ステータスPublished - 2014
イベント20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014 - Moscow, Russian Federation
継続期間: 2014 6 232014 6 26

出版物シリーズ

名前Mechanisms and Machine Science
22
ISSN(印刷版)2211-0984
ISSN(電子版)2211-0992

Other

Other20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014
国/地域Russian Federation
CityMoscow
Period14/6/2314/6/26

ASJC Scopus subject areas

  • 材料力学
  • 機械工学

フィンガープリント

「Terrain-adaptive biped walking control using three-point contact foot mechanism detectable ground surface」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル