Realization of Stable Biped Walking on Public Road with New Biped Foot System Adaptable to Uneven Terrain

Author

Hashimoto, Kenji ; Sugahara, Yusuke ; Ohta, Akihiro ; Sunazuka, Hiroyuki ; Tanaka, Chiaki ; Kawase, Masamiki ; Lim, Hun-ok ; Takanishi, Atsuo

Author_Institution

Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo

fYear

2006

fDate

20-22 Feb. 2006

Firstpage

226

Lastpage

231

Abstract

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

Keywords

biomechanics; legged locomotion; robot dynamics; Waseda shoes - no.1; biped foot system; biped walking robot contact; control method; flat soles; foot mechanism; foot system; four-point-contact; locking mechanism; rigid soles; stable biped walking realization; uneven terrain adaptation; Control systems; Foot; Footwear; Ground support; Hardware; Humanoid robots; Legged locomotion; Motion control; Robot control; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on

Conference_Location

Pisa

Print_ISBN

1-4244-0040-6

Type

conf

DOI

10.1109/BIOROB.2006.1639090

Filename

1639090