TY - GEN
T1 - New foot system adaptable to convex and concave surface
AU - Hashimoto, Kenji
AU - Sugahara, Yusuke
AU - Hayashi, Akihiro
AU - Kawase, Masamiki
AU - Sawato, Terumasa
AU - Endo, Nobutsuna
AU - Ohta, Akihiro
AU - Tanaka, Chiaki
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2007
Y1 - 2007
N2 - 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.
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.
KW - Biped walking
KW - Foot mechanism
KW - Locking mechanism
KW - Uneven terrain
UR - http://www.scopus.com/inward/record.url?scp=36348983291&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348983291&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363594
DO - 10.1109/ROBOT.2007.363594
M3 - Conference contribution
AN - SCOPUS:36348983291
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1869
EP - 1874
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -