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

共 50 条

[31] Preemptive Foot Compliance to Lower Impact During Biped Robot Walking Over Unknown Terrain
Guadarrama-Olvera, J. Rogelio
Kajita, Shuuji
Cheng, Gordon
[J]. IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, 7 (03) : 8006 - 8011
[32] Experimental Development of Stiffness Adjustable Foot Sole for Use by Bipedal Robots Walking on Uneven Terrain
Najmuddin, Ahmad
Fukuoka, Yasuhiro
Ochiai, Shota
[J]. 2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2012, : 248 - 253
[33] FOOT PLACEMENT CONTROL FOR BIPEDAL WALKING ON UNEVEN TERRAIN: AN ONLINE LINEAR REGRESSION ANALYSIS APPROACH
You, Yangwei
Li, Zhibin
Tsagarakis, Nikos G.
Caldwell, Darwin G.
[J]. ASSISTIVE ROBOTICS, 2016, : 478 - 485
[34] A New Foot Structure with Springs and Flat Soles for Biped Robot Walking
Mamiya, Shotaro
Sano, Shigenori
Uchiyama, Naoki
[J]. 2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), 2014,
[35] Walking Stability Control Method for Biped Robot on Uneven Ground Based on Deep Q-Network
Baoling Han
Yuting Zhao
Qingsheng Luo
[J]. Journal of Beijing Institute of Technology, 2019, 28 (03) : 598 - 605
[36] Realization of stable dynamic walking by a parallel bipedal locomotor on uneven terrain using a virtual compliance control
Sugahara, Y
Hosobata, T
Mikuriya, Y
Lim, HO
Takanishi, A
[J]. IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2003, : 595 - 600
[37] Using bilateral symmetry of the biped robot mechanism for efficient and faster optimal gait learning on uneven terrain
Jitendra Kumar
Ashish Dutta
[J]. International Journal of Intelligent Robotics and Applications, 2021, 5 : 429 - 464
[38] Compliant gait control method based on CVSLIP-FF model for biped robot walking over uneven terrain
Xie, Sicheng
Li, Xinyu
Lu, Shengyu
Li, Jingyuan
Hu, Chenghao
Gao, Liang
[J]. ISA TRANSACTIONS, 2024, 146 : 1 - 15
[39] Using bilateral symmetry of the biped robot mechanism for efficient and faster optimal gait learning on uneven terrain
Kumar, Jitendra
Dutta, Ashish
[J]. INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, 2021, 5 (04) : 429 - 464
[40] Measurement of Ground Surface for Walking on Rough Terrain with Wearable Robot
Ichinose, Ryuichi
Kagawa, Takahiro
[J]. 2023 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION, SII, 2023,

← 1 2 3 4 5 →