Title :
Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface
Author :
Kang, Hyun-jin ; Hashimoto, Kenji ; Kondo, Hideki ; Hattori, Kentaro ; Nishikawa, Kosuke ; Hama, Yuichiro ; Lim, Hun-ok ; Takanishi, Atsuo ; Suga, Keisuke ; Kato, Keisuke
Author_Institution :
Grad. Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan
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.
Keywords :
height measurement; legged locomotion; optical sensors; stability; biped foot mechanism; ground height detection; ground surface detection; optical sensor; walking stability; Foot; Hardware; Humanoid robots; Legged locomotion; Position measurement; Robot sensing systems; Robotics and automation; Stability; Surface emitting lasers; USA Councils;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509348
