TY - GEN
T1 - Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface
AU - Kang, Hyun Jin
AU - Hashimoto, Kenji
AU - Kondo, Hideki
AU - Hattori, Kentaro
AU - Nishikawa, Kosuke
AU - Hama, Yuichiro
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
AU - Suga, Keisuke
AU - Kato, Keisuke
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77955826757&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955826757&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509348
DO - 10.1109/ROBOT.2010.5509348
M3 - Conference contribution
AN - SCOPUS:77955826757
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5167
EP - 5172
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -