Dynamic Sensing Experiments of Reaction Force Distributions on the Sole of a Walking Humanoid Robot

IEEE International Conference on Intelligent Robots and Systems

Volumn 2, Issue , 2003, Pages 1413-1418

  Kinoshita, Genichiro ^a   Kimura, Tomonori ^a   Shimojo, Makoto ^b  

^a CHUO UNIVERSITY   (Japan)

^b UNIVERSITY OF ELECTRO COMMUNICATIONS   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

FOOT-ROTATION INDICATOR (FRI); HUMANOID ROBOTS;

ALGORITHMS; ARRAYS; ELECTRODES; END EFFECTORS; FEEDBACK; FORCE CONTROL; HAPTIC INTERFACES; SENSORS;

MOBILE ROBOTS;

EID: 0348040437     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (16)

1. HOAP-1, Catalogue of Fujitsu Laboratory, 2000.
2. Jin'ichi Yamaguchi, Noboru Kinoshita, Atsuo Takanishi and Ichiro Kato, "Development of a biped walking robot adapting to an unknown uneven surface," Journal of Robotics Society of Japan, vol.14, no.4, 1996, pp.546-559.
3. Kazuhisa Kitobe, Atsushi Masuyama, Tatsuo Shibata, Mitsuhiro Yamano, Yasuo Nasu, "A ZMP manipulation method for walking robots and its application to angular momentum control," Journal of Robotics Society of Japan, vol.20, no.5, 2002, pp.515-520.
4. Shuji Kajita, "Zero-moment point(ZMP) and walking control," Journal of Robotics Society of Japan, vol.20, no.3, 2002, pp.229-232.
5. H.Hemami and R.L.Farnsworth, "Postual and gait stability of a planar five link biped by simulation, IEEE Trans. on Automatic Control, vol.AC-22, no.3, 1997, pp.452-458.
6. Jong Hyeon Park, "Impedance control for biped robot locomotion," IEEE Trans. on Robotics and Automation, vol.17, no.6, 2001, pp.870-882.
7. A.Goswami, "Postural stability of biped robots and the foot-rotation indicator(FPJ) point," The International Journal of Robotics Research, 18, 6, 1999, pp.523-533.
8. H.Maekawa, K.Tanie, K.Komoria and M.Kaneko, "Development of a finger-shaped tactile sensor and its environment by active touch," Proceedings, of the 1992 IEEE International Conference on Robotics and Automation, 1992, pp.1327-1334.
9. S.Begej, "Planar and finger-shaped optical tactile sensors for robotics application," IEEE Trans. on Robotics and Automation, vol4, no.5, 1988, pp.472-484.
10. R.S.Fearing and T.O.Binford, "Using a cylindrical tactile sensor for determining curvature," IEEE Trans. on Robotics and Automation, vol.7, no.6, 1991, pp.806-817.
11. R.D.Howe, "Tactile Sensing and Control of Robotic Manipulation," Advanced Robotics, vol.8, no.3, 1994, pp.245-261.
12. W.D.Hills, "A high-resolusiton image touch sensor," International Journal Robotics Reserch, vol.1, no.2, 1982, pp.33-44.
13. http://www.tekscan.com
14. Jun'ichi Yamaguchi, Atsuo Takanishi, and Ichiro Kato, "Experimental development of a foot mechanism with shock absorbing material for acquisition of landing surface position information and stabilization of dynamic biped walking," IEEE Interernational Conference on Robotics and Automation, 1995, pp.2892-2899.
15. Q. Huang, Y. Nakamura and T. Inamura, "Humanoids walk with feedforward dynamic pattern and feedback sensory reflection," Proceedings. of the 2001 IEEE Intrernational Conference on Robotics and Automation, 2001, pp.4220-4225.
16. Q. LI, A. Takanishi and I. Kato, "Development of ZMP measurement system for biped walking robot using universal force-moment sensors," Journal of Robotic Society of Japan, vol.10, no.6, 1992, pp.828-833.