Title :
Improved walking motion for a biped robot using piezoelectric ceramic sensors
Author :
Nakayatna, H. ; Watanabe, Kajiro
Author_Institution :
Hosei Univ., Tokyo, Japan
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;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
