書誌事項
- タイトル別名
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- Method for Adapting to Rough Terrain Based on Environmental Modes for Biped Robots
- カンキョウ モード ニ モトズク ニソク ホコウ ロボット ノ フセイチ テキオウホウ
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抄録
This paper describes a method for adapting to rough terrain for biped robots. The robots obtain information of reaction force from the ground by sensors located at each corner of rectangular soles. From the sensor information, environmental modes are extracted. The environmental modes consist of four modes: heaving, rolling, pitching, and twisting, which represent contact states between the ground and the soles. On the basis of the twisting mode, the robot detects the unevenness of the ground, makes contact with the uneven ground stably with three corners of the sole, and modifies the trajectory to continue stable walking. The validity of the proposed method is confirmed by experimental results.
収録刊行物
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- 電気学会論文誌Ｄ（産業応用部門誌）
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電気学会論文誌Ｄ（産業応用部門誌） 129 (9), 881-889, 2009
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679635683456
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- NII論文ID
- 10025102475
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 10421956
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可