Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface

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 × 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 heigh...

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Bibliographic Details
Published in2010 IEEE International Conference on Robotics and Automation pp. 5167 - 5172
Main Authors Hyun-jin Kang, Hashimoto, Kenji, Kondo, Hideki, Hattori, Kentaro, Nishikawa, Kosuke, Hama, Yuichiro, Hun-ok Lim, Takanishi, Atsuo, Suga, Keisuke, Kato, Keisuke
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2010
Subjects
Foot
Hardware
Humanoid robots
Legged locomotion
Position measurement
Robot sensing systems
Robotics and automation
Stability
Surface emitting lasers
USA Councils
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ISBN9781424450381
1424450381
ISSN1050-4729
DOI10.1109/ROBOT.2010.5509348

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Summary: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 × 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.
ISBN:9781424450381
1424450381
ISSN:1050-4729
DOI:10.1109/ROBOT.2010.5509348