Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface

Hyun Jin Kang; Kenji Hashimoto; Hideki Kondo; Kentaro Hattori; Kosuke Nishikawa; Yuichiro Hama; Hun Ok Lim; Atsuo Takanishi; Keisuke Suga; Keisuke Kato

doi:10.1109/ROBOT.2010.5509348

Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface

Hyun Jin Kang^*, Kenji Hashimoto, Hideki Kondo, Kentaro Hattori, Kosuke Nishikawa, Yuichiro Hama, Hun Ok Lim, Atsuo Takanishi, Keisuke Suga, Keisuke Kato

^*Corresponding author for this work

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

44 Citations (Scopus)

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 x 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.

Original language	English
Title of host publication	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages	5167-5172
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2010.5509348
Publication status	Published - 2010
Event	2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States Duration: 2010 May 3 → 2010 May 7

Publication series

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

Conference

Conference	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/Territory	United States
City	Anchorage, AK
Period	10/5/3 → 10/5/7

ASJC Scopus subject areas

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

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10.1109/ROBOT.2010.5509348

Cite this

Kang, H. J., Hashimoto, K., Kondo, H., Hattori, K., Nishikawa, K., Hama, Y., Lim, H. O., Takanishi, A., Suga, K., & Kato, K. (2010). Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 5167-5172). Article 5509348 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509348

Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface. / Kang, Hyun Jin; Hashimoto, Kenji; Kondo, Hideki et al.
2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 5167-5172 5509348 (Proceedings - IEEE International Conference on Robotics and Automation).

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

Kang, HJ, Hashimoto, K, Kondo, H, Hattori, K, Nishikawa, K, Hama, Y, Lim, HO, Takanishi, A, Suga, K & Kato, K 2010, Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface. in 2010 IEEE International Conference on Robotics and Automation, ICRA 2010., 5509348, Proceedings - IEEE International Conference on Robotics and Automation, pp. 5167-5172, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 10/5/3. https://doi.org/10.1109/ROBOT.2010.5509348

Kang HJ, Hashimoto K, Kondo H, Hattori K, Nishikawa K, Hama Y et al. Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 5167-5172. 5509348. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.2010.5509348

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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 x 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.",

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Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface

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