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

Author

Kang, Hyun-jin ; Hashimoto, Kenji ; Kondo, Hideki ; Hattori, Kentaro ; Nishikawa, Kosuke ; Hama, Yuichiro ; Lim, Hun-ok ; Takanishi, Atsuo ; Suga, Keisuke ; Kato, Keisuke

Author_Institution

Grad. Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan

fYear

2010

fDate

3-7 May 2010

Firstpage

5167

Lastpage

5172

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.

Keywords

height measurement; legged locomotion; optical sensors; stability; biped foot mechanism; ground height detection; ground surface detection; optical sensor; walking stability; Foot; Hardware; Humanoid robots; Legged locomotion; Position measurement; Robot sensing systems; Robotics and automation; Stability; Surface emitting lasers; USA Councils;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Conference_Location

Anchorage, AK

ISSN

1050-4729

Print_ISBN

978-1-4244-5038-1

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2010.5509348

Filename

5509348