Realization of Biped Walking on Uneven Terrain by New Foot Mechanism Capable of Detecting Ground Surface

被引：37

作者：

Kang, Hyun-jin ^{[1
]}

Hashimoto, Kenji ^{[2
]}

Kondo, Hideki ^{[2
]}

Hattori, Kentaro ^{[2
]}

Nishikawa, Kosuke ^{[2
]}

Hama, Yuichiro ^{[2
]}

Lim, Hun-ok ^{[3
,4
]}

Takanishi, Atsuo ^{[3
,5
]}

Suga, Keisuke ^{[6
]}

Kato, Keisuke ^{[6
]}

机构：

[1] Waseda Univ, Grad Sch Sci & Engn, Shinjuku Ku, 41-304,17 Kikui Cho, Tokyo 1620044, Japan

[2] Waseda Univ, Grad Sch Sci & Engn, Shinjuku Ku, Tokyo 1620044, Japan

[3] Waseda Univ, HRI, Tokyo 1620044, Japan

[4] Univ Kanagawa, Fac Engn, Yokohama, Kanagawa, Japan

[5] Waseda Univ, Dept Modern Mech Engn, Tokyo, Japan

[6] Toyota Motor Co Ltd, Partner Robot Div, Toyota, Japan

来源：

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年

关键词：

D O I：

10.1109/ROBOT.2010.5509348

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We have developed a new biped foot mechanism capable of detecting ground surface to realize stable walking on uneven terrain. The size of the foot mechanism is 160 mm x 277 mm and its weight is 1.5 kg. The foot system consists of four spikes each of which has an optical sensor to detect ground height. The foot makes a support polygon on uneven terrain by using three or four spikes. We have conducted several experiments on the outdoor ground surface that has a slope of 7.0 degrees and a maximum height of 15 mm bumps, and the effectiveness of the foot mechanism is confirmed.

引用

页码：5167 / 5172

页数：6

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