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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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
Online AccessGet full text
ISBN9781424450381
1424450381
ISSN1050-4729
DOI10.1109/ROBOT.2010.5509348

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Abstract 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.
AbstractList 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.
Author Hyun-jin Kang
Kondo, Hideki
Hattori, Kentaro
Hama, Yuichiro
Kato, Keisuke
Takanishi, Atsuo
Hashimoto, Kenji
Nishikawa, Kosuke
Hun-ok Lim
Suga, Keisuke
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  givenname: Kenji
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  givenname: Keisuke
  surname: Kato
  fullname: Kato, Keisuke
  organization: Partner Robot Div., Toyota Motor Corp., Japan
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Snippet 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...
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StartPage 5167
SubjectTerms Foot
Hardware
Humanoid robots
Legged locomotion
Position measurement
Robot sensing systems
Robotics and automation
Stability
Surface emitting lasers
USA Councils
Title Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface
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