Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain

Kenji Hashimoto; Yusuke Sugahara; Akihiro Ohta; Hiroyuki Sunazuka; Chiaki Tanaka; Masamiki Kawase; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/BIOROB.2006.1639090

Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain

Kenji Hashimoto^*, Yusuke Sugahara, Akihiro Ohta, Hiroyuki Sunazuka, Chiaki Tanaka, Masamiki Kawase, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

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

19 Citations (Scopus)

Abstract

To date, many control methods have been researched on the assumption that the soles of a biped walking robot contact the ground as four points. It is difficult for almost all biped robots to maintain four-point-contact on uneven terrain because they have rigid and flat soles. It means that the biped robots can lose their balance. To solve this kind of problem, not only stability controls but also foot mechanisms should be studied. So, we developed a foot system, WS-1 (Waseda Shoes - No.1) that can maintain four-point-contact on uneven terrain, different from conventional foot systems. However, since WS-1 has some problems, an improved foot system, WS-1R (Waseda Shoes - No.1 Refined) is developed. Through hardware experiments, the effectiveness of WS-1 R is confirmed.

Original language	English
Title of host publication	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages	226-231
Number of pages	6
DOIs	https://doi.org/10.1109/BIOROB.2006.1639090
Publication status	Published - 2006
Event	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy Duration: 2006 Feb 20 → 2006 Feb 22

Publication series

Name	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume	2006

Conference

Conference	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Country/Territory	Italy
City	Pisa
Period	06/2/20 → 06/2/22

Keywords

Biped walking
Foot mechanism
Locking mechanism
Uneven terrain

ASJC Scopus subject areas

Engineering(all)

Access to Document

10.1109/BIOROB.2006.1639090

Cite this

Hashimoto, K., Sugahara, Y., Ohta, A., Sunazuka, H., Tanaka, C., Kawase, M., Lim, H. O., & Takanishi, A. (2006). Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 (pp. 226-231). Article 1639090 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006). https://doi.org/10.1109/BIOROB.2006.1639090

Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain. / Hashimoto, Kenji; Sugahara, Yusuke; Ohta, Akihiro et al.
Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. p. 226-231 1639090 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006).

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

Hashimoto, K, Sugahara, Y, Ohta, A, Sunazuka, H, Tanaka, C, Kawase, M, Lim, HO & Takanishi, A 2006, Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain. in Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006., 1639090, Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, vol. 2006, pp. 226-231, 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, Pisa, Italy, 06/2/20. https://doi.org/10.1109/BIOROB.2006.1639090

Hashimoto K, Sugahara Y, Ohta A, Sunazuka H, Tanaka C, Kawase M et al. Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. p. 226-231. 1639090. (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006). doi: 10.1109/BIOROB.2006.1639090

Hashimoto, Kenji ; Sugahara, Yusuke ; Ohta, Akihiro et al. / Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain. Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. pp. 226-231 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006).

@inproceedings{841aaa0bcdf14e6e91aa1319d95a6fed,

title = "Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain",

abstract = "To date, many control methods have been researched on the assumption that the soles of a biped walking robot contact the ground as four points. It is difficult for almost all biped robots to maintain four-point-contact on uneven terrain because they have rigid and flat soles. It means that the biped robots can lose their balance. To solve this kind of problem, not only stability controls but also foot mechanisms should be studied. So, we developed a foot system, WS-1 (Waseda Shoes - No.1) that can maintain four-point-contact on uneven terrain, different from conventional foot systems. However, since WS-1 has some problems, an improved foot system, WS-1R (Waseda Shoes - No.1 Refined) is developed. Through hardware experiments, the effectiveness of WS-1 R is confirmed.",

keywords = "Biped walking, Foot mechanism, Locking mechanism, Uneven terrain",

author = "Kenji Hashimoto and Yusuke Sugahara and Akihiro Ohta and Hiroyuki Sunazuka and Chiaki Tanaka and Masamiki Kawase and Lim, {Hun Ok} and Atsuo Takanishi",

year = "2006",

doi = "10.1109/BIOROB.2006.1639090",

language = "English",

isbn = "1424400406",

series = "Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006",

pages = "226--231",

booktitle = "Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006",

note = "1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 ; Conference date: 20-02-2006 Through 22-02-2006",

}

TY - GEN

T1 - Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain

AU - Hashimoto, Kenji

AU - Sugahara, Yusuke

AU - Ohta, Akihiro

AU - Sunazuka, Hiroyuki

AU - Tanaka, Chiaki

AU - Kawase, Masamiki

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

PY - 2006

Y1 - 2006

N2 - To date, many control methods have been researched on the assumption that the soles of a biped walking robot contact the ground as four points. It is difficult for almost all biped robots to maintain four-point-contact on uneven terrain because they have rigid and flat soles. It means that the biped robots can lose their balance. To solve this kind of problem, not only stability controls but also foot mechanisms should be studied. So, we developed a foot system, WS-1 (Waseda Shoes - No.1) that can maintain four-point-contact on uneven terrain, different from conventional foot systems. However, since WS-1 has some problems, an improved foot system, WS-1R (Waseda Shoes - No.1 Refined) is developed. Through hardware experiments, the effectiveness of WS-1 R is confirmed.

AB - To date, many control methods have been researched on the assumption that the soles of a biped walking robot contact the ground as four points. It is difficult for almost all biped robots to maintain four-point-contact on uneven terrain because they have rigid and flat soles. It means that the biped robots can lose their balance. To solve this kind of problem, not only stability controls but also foot mechanisms should be studied. So, we developed a foot system, WS-1 (Waseda Shoes - No.1) that can maintain four-point-contact on uneven terrain, different from conventional foot systems. However, since WS-1 has some problems, an improved foot system, WS-1R (Waseda Shoes - No.1 Refined) is developed. Through hardware experiments, the effectiveness of WS-1 R is confirmed.

KW - Biped walking

KW - Foot mechanism

KW - Locking mechanism

KW - Uneven terrain

UR - http://www.scopus.com/inward/record.url?scp=33845595032&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33845595032&partnerID=8YFLogxK

U2 - 10.1109/BIOROB.2006.1639090

DO - 10.1109/BIOROB.2006.1639090

M3 - Conference contribution

AN - SCOPUS:33845595032

SN - 1424400406

SN - 9781424400409

T3 - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006

SP - 226

EP - 231

BT - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006

T2 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006

Y2 - 20 February 2006 through 22 February 2006

ER -

Realization of stable biped walking on public road with new biped foot system adaptable to uneven terrain

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this