New foot system adaptable to convex and concave surface

Kenji Hashimoto; Yusuke Sugahara; Akihiro Hayashi; Masamiki Kawase; Terumasa Sawato; Nobutsuna Endo; Akihiro Ohta; Chiaki Tanaka; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/ROBOT.2007.363594

New foot system adaptable to convex and concave surface

Kenji Hashimoto^*, Yusuke Sugahara, Akihiro Hayashi, Masamiki Kawase, Terumasa Sawato, Nobutsuna Endo, Akihiro Ohta, Chiaki Tanaka, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

19 Citations (Scopus)

Abstract

Many control methods have been studied on the assumption that the feet of biped robots contact the ground with four points. However, it is difficult for almost all of such biped robots to maintain four-point contact on uneven terrains because they have rigid and flat soles. In order to solve the problem, foot mechanisms should be studied. In 2003, we developed WS-1R (Waseda Shoes - No.1 Refined) which is able to maintain four-point contact. However, it is difficult to deal with the concave or convex ground because of the problems of the contact detection and sideways slip. So, WS-5 (Waseda Shoes - No.5) has been developed. To avoid the slip of the foot, a cam-slider locking system consisting of a solenoid and a cam is constructed and installed at the foot. Also, linear encoders are employed to measure the position of the foot sliders. Through walking experiments on uneven terrains, the effectiveness of WS-5 is confirmed.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	1869-1874
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.363594
Publication status	Published - 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: 2007 Apr 10 → 2007 Apr 14

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	07/4/10 → 07/4/14

Keywords

Biped walking
Foot mechanism
Locking mechanism
Uneven terrain

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2007.363594

Cite this

Hashimoto, K., Sugahara, Y., Hayashi, A., Kawase, M., Sawato, T., Endo, N., Ohta, A., Tanaka, C., Lim, H. O., & Takanishi, A. (2007). New foot system adaptable to convex and concave surface. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 1869-1874). [4209358] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.363594

New foot system adaptable to convex and concave surface. / Hashimoto, Kenji; Sugahara, Yusuke; Hayashi, Akihiro et al.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 1869-1874 4209358 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hashimoto, K, Sugahara, Y, Hayashi, A, Kawase, M, Sawato, T, Endo, N, Ohta, A, Tanaka, C, Lim, HO & Takanishi, A 2007, New foot system adaptable to convex and concave surface. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209358, Proceedings - IEEE International Conference on Robotics and Automation, pp. 1869-1874, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 07/4/10. https://doi.org/10.1109/ROBOT.2007.363594

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abstract = "Many control methods have been studied on the assumption that the feet of biped robots contact the ground with four points. However, it is difficult for almost all of such biped robots to maintain four-point contact on uneven terrains because they have rigid and flat soles. In order to solve the problem, foot mechanisms should be studied. In 2003, we developed WS-1R (Waseda Shoes - No.1 Refined) which is able to maintain four-point contact. However, it is difficult to deal with the concave or convex ground because of the problems of the contact detection and sideways slip. So, WS-5 (Waseda Shoes - No.5) has been developed. To avoid the slip of the foot, a cam-slider locking system consisting of a solenoid and a cam is constructed and installed at the foot. Also, linear encoders are employed to measure the position of the foot sliders. Through walking experiments on uneven terrains, the effectiveness of WS-5 is confirmed.",

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author = "Kenji Hashimoto and Yusuke Sugahara and Akihiro Hayashi and Masamiki Kawase and Terumasa Sawato and Nobutsuna Endo and Akihiro Ohta and Chiaki Tanaka and Lim, {Hun Ok} and Atsuo Takanishi",

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AU - Takanishi, Atsuo

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AB - Many control methods have been studied on the assumption that the feet of biped robots contact the ground with four points. However, it is difficult for almost all of such biped robots to maintain four-point contact on uneven terrains because they have rigid and flat soles. In order to solve the problem, foot mechanisms should be studied. In 2003, we developed WS-1R (Waseda Shoes - No.1 Refined) which is able to maintain four-point contact. However, it is difficult to deal with the concave or convex ground because of the problems of the contact detection and sideways slip. So, WS-5 (Waseda Shoes - No.5) has been developed. To avoid the slip of the foot, a cam-slider locking system consisting of a solenoid and a cam is constructed and installed at the foot. Also, linear encoders are employed to measure the position of the foot sliders. Through walking experiments on uneven terrains, the effectiveness of WS-5 is confirmed.

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New foot system adaptable to convex and concave surface

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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