New Biped Foot System Adaptable to Uneven Terrain-Reference-Cited by-同舟云学术

New Biped Foot System Adaptable to Uneven Terrain

Published:2006-06-20 Issue:3 Volume:18 Page:271-277
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Hashimoto Kenji, ,Sugahara Yusuke,Lim Hun-ok,Takanishi Atsuo, ,

Abstract

Many types of control have been studied assuming that soles of a biped robot’s feet contact the ground at four points. The rigid, flat soles of most such robots rarely maintain four-point contact on uneven terrain, however, and may lose balance. Solving this problem requires that both control and the foot itself be studied. We developed a new foot system, Waseda Shoes - No.1 (WS-1) to maintain four-point contact on uneven terrain, followed by Waseda Shoes - No.1 Refined (WS-1R), which solved problems with WS-1. Hardware experiment confirmed WS-1R feasibility.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Reference15 articles.

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