New foot system adaptable to convex and concave surface

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 1869-1874

  Hashimoto, Kenji ^a   Sugahara, Yusuke ^a   Hayashi, Akihiro ^a   Kawase, Masamiki ^a   Sawato, Terumasa ^a   Endo, Nobutsuna ^a   Ohta, Akihiro ^a   Tanaka, Chiaki ^a   Lim, Hun Ok ^b   Takanishi, Atsuo ^a  

^a WASEDA UNIVERSITY   (Japan)

^b KANAGAWA UNIVERSITY   (Japan)

Author keywords

Biped walking; Foot mechanism; Locking mechanism; Uneven terrain

Indexed keywords

BIPED LOCOMOTION; CAMERAS; PROBLEM SOLVING; SOLENOIDS;

CONVEX AND CONCAVE SURFACE; FOOT MECHANISM; FOOT MECHANISMS; SIDEWAYS SLIP;

ROBOTICS;

EID: 36348983291     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363594     Document Type: Conference Paper

References (17)

1. A.Takanishi, T.Takeya, H.Karaki, M.Kumeta, and I.Kato, "A Control Method for Dynamic Walking under Unknown External Force," Proc. of the IEEE/RSJ IROS 1990, pp.795-801, Tsuchiura, Japan, July, 1990.
2. S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa, "The 3D Linear Inverted Pendulum Mode: A simple modeling for a biped walking pattern generation," Proc. of the IEEE IROS 2001, pp. 239-246, Maui, Hawaii, USA, November, 2001.
3. Y. Okumura, T. Tawara, K. Endo, T. Furuta, and M. Shimizu, "Realtime ZMP Compensation for Biped Walking Robot using Adaptive Inertia Force Control," Proc. of the IEEE/RSJ IROS 2003, pp. 335-339, Las Vegas, USA, October, 2003.
4. Y. Sugahara, T. Hosobata, Y. Mikuriya, H.O. Lim and A. Takanishi, "Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control," Proc. of the IEEE/RSJ IROS 2003, pp. 595-600, Las Vegas, USA, October, 2003.
5. M. Vukobratovic, and J. Stepanenko, "On the Stability of Anthropomorphic Systems," Mathematical Biosciences, vol, 15, no. 1, pp. 1-37, 1972.
6. Y. Sugahara, T. Endo, H. O. Lim and A. Takanishi, "Design of a Battery-powered Multi-purpose Bipedal Locomotor with Parallel Mechanism," Proc. of the IEEE/RSJ IROS 2002, pp. 2658-2663, Lausanne, Switzerland, October, 2002.
7. S. Kagami, K. Nishiwaki, J. J. Kuffner, Y. Kuniyoshi, M. Inaba and H. Inoue, "Online 3D Vision, Motion Planning and Bipedal Locomotion Control Coupling System of Humanoid Robot : H7," Proc. of the IEEE/RSJ IROS 2002, pp. 2557-2562, Lausanne, Switzerland, October, 2002.
8. K. Nishiwaki, S. Kagami, J. Kuffner, M. Inaba, and H. Inoue, "Humanoid ' JSK-H7': Reserch Platform for Autonomous Behavior and Whole Body Motion," Proc. of the Third IARP International Workshop on Humanoid and Human Friendly Robotics, pp. 2-9, Tsukuba, Japan, December, 2002.
9. J. Yamaguchi, A. Takanishi, and I. Kato, "Experimental Development of a Foot Mechanism with Shock Absorbing Material for Acquisition of Landing Surface Position Information and Stabilization of Dynamic Biped Walking," Proc. of the IEEE ICRA 1995, pp. 2892-2899, Nagoya, Aichi, Japan, May, 1995.
10. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The Development of Honda Humanoid Robot," Proc. of the IEEE ICRA 1998, pp. 1321-1326, Leuven, Belgium, May, 1998.
11. M. Hirose, Y. Haikawa, T. Takenaka, and K. Hirai, "Development of Humanoid Robot ASIMO," Proc. of the IEEE/RSJ IROS 2001, Workshop2, Maui, Hawaii, USA, 2001.
12. S. Kajita, K. Yokoi, M. Saigo, and K. Tanie, "Balancing a Humanoid Robot Using Backdrive Concerned Torque Control and Direct Angular Momentum Feedback," Proc. of the IEEE ICRA 2001, pp. 3376-3382, Seoul, Korea, May, 2001.
13. K. Kaneko, S. Kajita, F. Kanehiro, K. Yokoi, K. Fujiwara, H. Hirukawa, T. Kawasaki, M. Hirata and T. Isozumi, "Design of Advanced Leg Module for Humanoid Robotics Project of METI," Proc. of the IEEE ICRA 2002, pp. 38-45, Washington, DC, USA, May, 2002.
14. M. Ogata, and S. Hirose, "Study on Ankle Mechanism for Walking Robots -Development of 2 D.O.F. Coupled Drive Ankle Mechanism with Wide Motion Range-," Proc. of the IEEE/RSJ IROS 2004, pp. 3201-3206, Sendai, Japan, 2004.
15. K. Hashimoto, Y. Sugahara, A. Ohta, H. Sunazuka, C. Tanaka, M. Kawase, H. O. Lim and A. Takanishi, "Realization of Stable Biped Walking on Public Road with New Biped Foot System," Proc. of the 2006 the first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, Italy, February, 2006.
16. SolidWorks Corporation, "COSMOSWorks," http://www.solidworks. com/pages/products/cosmos/cosmosworks.html
17. Y. Sugahara, T. Hosobata, Y. Mikuriya, H. Sunazuka, H. O. Lim and A. Takanishi, "Realization of Dynamic Human-Carrying Walking by a Biped Locomotor," Proc. of the IEEE ICRA 2004, pp. 3055-3060, New Orleans, USA, April, 2004.