DocumentCode
504944
Title
Improved walking motion for a biped robot using piezoelectric ceramic sensors
Author
Nakayatna, H. ; Watanabe, Kajiro
Author_Institution
Hosei Univ., Tokyo, Japan
fYear
2009
fDate
18-21 Aug. 2009
Firstpage
1218
Lastpage
1221
Abstract
The walking motion of a biped robot was improved through the use of piezoelectric ceramic sensors. Humans are able to walk stably on uneven ground by adjusting the ankle angle in response to tactile signals from the legs. To provide a similar capability for a biped robot, piezoelectric ceramic sensors were installed on the soles of the robot´s feet.
Keywords
legged locomotion; sensors; biped robot; improved walking motion; piezoelectric ceramic sensors; tactile signals; Ceramics; Electric shock; Humans; Leg; Legged locomotion; Motion control; Robot control; Robot kinematics; Robot sensing systems; Tactile sensors; balance control; biped walking robot; piezoelectric ceranuc sensor;
fLanguage
English
Publisher
ieee
Conference_Titel
ICCAS-SICE, 2009
Conference_Location
Fukuoka
Print_ISBN
978-4-907764-34-0
Electronic_ISBN
978-4-907764-33-3
Type
conf
Filename
5335022
Link To Document