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Realization of biped walking on uneven terrain by new foot mechanism capable of detecting ground surface | IEEE Conference Publication | IEEE Xplore

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

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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 × 2...Show More

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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 × 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.

Published in: 2010 IEEE International Conference on Robotics and Automation

Date of Conference: 03-07 May 2010

Date Added to IEEE Xplore: 15 July 2010

ISBN Information:

Print ISSN: 1050-4729

DOI: 10.1109/ROBOT.2010.5509348

Conference Location: Anchorage, AK, USA

Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.

IEEE Keywords
- Legged locomotion ,
- Foot ,
- Humanoid robots ,
- Surface emitting lasers ,
- Position measurement ,
- Robot sensing systems ,
- Stability ,
- Hardware ,
- Robotics and automation ,
- USA Councils
Index Terms
- Ground Surface ,
- Uneven Terrain ,
- Optical Sensors ,
- Walking Stability ,
- Contact Point ,
- Flat Surface ,
- Outdoor Environments ,
- Adaptive Control ,
- Stability Control ,
- Step Length ,
- Surface Deformation ,
- Humanoid Robot ,
- Sensor Values ,
- Walking Pattern ,
- Laser Ranging ,
- External Sensors ,
- Half Of Phase ,
- Walking Experience ,
- Theoretical Length ,
- Roll Axis ,
- Pitch Axis ,
- Sensor Length

Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.

IEEE Keywords
- Legged locomotion ,
- Foot ,
- Humanoid robots ,
- Surface emitting lasers ,
- Position measurement ,
- Robot sensing systems ,
- Stability ,
- Hardware ,
- Robotics and automation ,
- USA Councils
Index Terms
- Ground Surface ,
- Uneven Terrain ,
- Optical Sensors ,
- Walking Stability ,
- Contact Point ,
- Flat Surface ,
- Outdoor Environments ,
- Adaptive Control ,
- Stability Control ,
- Step Length ,
- Surface Deformation ,
- Humanoid Robot ,
- Sensor Values ,
- Walking Pattern ,
- Laser Ranging ,
- External Sensors ,
- Half Of Phase ,
- Walking Experience ,
- Theoretical Length ,
- Roll Axis ,
- Pitch Axis ,
- Sensor Length

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