Development of a Biped Walking Robot Adapting to an Unkown Uneven Surface.

DOI 26 Citations 24 References Open Access
  • Yamaguchi Jin'ichi
    Graduate School of Science and Engineering, Waseda University Advanced Research Center for Science and Engineering, Waseda University
  • Kinoshita Noboru
    Matsushita Electric Industrial Co., Ltd.
  • Takanishi Atsuo
    School of Science and Engineering, Waseda University Advanced Research Center for Science and Engineering, Waseda University
  • Kato Ichiro
    School of Science and Engineering, Waseda University Advanced Research Center for Science and Engineering, Waseda University

Bibliographic Information

Other Title
  • 路面形状に偏差のある環境に対する適応能力を持つ２足歩行ロボットの開発

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Description

In this paper, the authors introduce a biped walking control method for adapting to an unknown uneven surface, and a biped walking robot which has a special foot mechanism for the control method. The biped walking robot has an ability to acquire, during its dynamic walking, the information of the landing surface's height and angle of inclination. The authors performed adaptive walking experiments with the robot using the control method. As a result, dynamic biped walking adapting to an unknown uneven surface was realized. The adaptable uneven surface's height range per one step walking was from -16 to +16 [mm], and the adaptable angle of inclination range was from -3 to +3° at the maximum walking speed of 1.28 [sec] per step with a 0.3 [m] step length.

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Details 詳細情報について

  • CRID
    1390282679703030016
  • NII Article ID
    130000842802
  • NII Book ID
    AN00141189
  • DOI
    10.7210/jrsj.14.546
  • ISSN
    18847145
    02891824
    http://id.crossref.org/issn/02891824
  • Text Lang
    ja
  • Data Source
    • JaLC
    • Crossref
    • CiNii Articles
    • OpenAIRE
  • Abstract License Flag
    Disallowed

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