Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain

被引：0

作者：

Hashimoto, Kenji ^{[1
]}

Sugahara, Yusuke ^{[1
]}

Ohta, Akihiro ^{[1
]}

Sunazuka, Hiroyuki ^{[1
]}

Tanaka, Chiaki ^{[1
]}

Kawase, Masamiki ^{[1
]}

Lim, Hun-ok ^{[2
,3
]}

Takanishi, Atsuo ^{[3
,4
]}

机构：

[1] Waseda Univ, Grad Sch Sci & Engn, Tokyo, Japan

[2] Kanagawa Univ, Fac Engn, Kanagawa, Japan

[3] Waseda Univ, Humanoid Robot Inst, Tokyo, Japan

[4] Waseda Univ, Sch Sci & Engn, Tokyo, Japan

来源：

2006 1ST IEEE RAS-EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, VOLS 1-3 | 2006年

关键词：

biped walking; uneven terrain; locking mechanism; foot mechanism;

D O I：

暂无

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

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-1R is confirmed.

引用

页码：127 / +

页数：2

共 32 条

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