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

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 5167-5172

  Kang, Hyun Jin ^a   Hashimoto, Kenji ^a   Kondo, Hideki ^a   Hattori, Kentaro ^a   Nishikawa, Kosuke ^a   Hama, Yuichiro ^a   Lim, Hun Ok ^a,b   Takanishi, Atsuo ^a   Suga, Keisuke ^c   Kato, Keisuke ^c  

^a WASEDA UNIVERSITY   (Japan)

^b KANAGAWA UNIVERSITY   (Japan)

^c TOYOTA MOTOR CORPORATION   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

BIPED WALKING; GROUND SURFACES; STABLE WALKING; SUPPORT POLYGON; UNEVEN TERRAIN;

LANDFORMS; SENSORS;

ROBOTICS;

EID: 77955826757     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509348     Document Type: Conference Paper

References (18)

1. M. Yagi and V. J. Lumelsky, "Biped Robot Locomotion in Scenes with Unknown Obstacles," Proc. of the 1999 IEEE International Conference on Robotics and Automation, pp. 375-380, 1999.
2. K. Sabe, M. Fukuchi, J. S. Gutmann, T. Ohashi, K. Kawamoto and T. Yoshigahara, "Obstacle Avoidance and Path Planning for Humanoid Robots Using Stereo Vision," Proc. of the 2004 IEEE International Conference on Robotics and Automation, pp. 592-597, 2004.
3. P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner and T. Kanade, "Online Environment Reconstruction for Biped Navigation," Proc. of the 2006 IEEE International Conference on Robotics and Automation, pp. 3089-3094, 2006.
4. P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner and T. Kanade, "GPU-accelerated Real-Time 3D Tracking for Humanoid Locomotion and Stair Climbing," Proc. of the IEEE/RSJ IROS 2007, pp. 463-469, 2007.
5. K. Hirai, M. Hirose, Y. Haikawa and T. Takenaka, "The Development of Honda Humanoid Robot," in Proc. of the 1998 IEEE International Conference on Robotics and Automation, pp. 1321-1326, 1998.
6. J. H. Park and H. Chung, "ZMP Compensation by On-Line Trajectory Generation for Biped Robots," in Proc. of the 1999 IEEE System, Man and Cybernetics, pp. 960-965, 1999.
7. Q. Huang, Y. Nakamura and T. Inamura, "Humanoids Walk with Feedforward Dynamic Pattern and Feedback Sensory Reflection," in Proc. of 2001 IEEE International Conference on Robotics and Automation, pp. 4220-4225, 2001.
8. J. H. Park, "Impedance Control for Biped Robot Locomotion, " IEEE Transactions on Robotics and Automation, Vol. 17, No. 6, pp. 870-882, 2001.
9. T. Sugihara and Y. Nakamura, "Whole-body Cooperative Balancing of Humanoid Robot using COG Jacobian," Proc. of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2575-2580, 2002.
10. M. Morisawa et al., "A Biped Pattern Generation Allowing Immediate Modification of Foot Placement in Real-time," Proc. of IEEE International Conference on Humanoid Robots, pp.581-5862, 2006.
11. K. Hashimoto, Y. Sugahara, H. O. Lim and A. Takanishi, "Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment," Journal of Robotics and Mechatronics, Vol. 20, No. 5, pp. 775-784, 2008.
12. H. J. Kang, S. Momoki, H. kondo, K. Hashimoto, H. O. Lim, A. Takanishi "Attitude Compensation Control for Biped Humanoid Robot", the 12th International conference on CLimbing And Walking Robots and the support technologies for mobile machines, 2009.
13. K. Hashimoto, Y. Sugahara, H. O. Lim and A. Takanishi, "New Biped Foot System Adaptable to Uneven Terrain," Journal of Robotics and Mechatronics, Vol. 18, No. 3, pp. 271-277, 2006.
14. K. Hashimoto, Y. Sugahara, H. O. Lim and A. Takanishi, "Development of New Foot System Adaptable to Uneven Terrain for All Biped Robots," Proc. of the 17th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2008), pp. 391-398, 2008.
15. 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 International Conference on Robotics and Automation, pp. 2892-2899, 1995.
16. Y. Ogura, H. Aikawa, Hun-ok Lim, and A. Takanishi, "Developed of a human-like walking robot having two 7-DOF legs and a 2-DOF waist," Proc. of the IEEE international conference on robotics and automation, pp. 134-139, 2004.
17. Y. Ogura, K. Shimomura, Hun-ok Lim, and A. Takanishi, "Human-like Walking with Knee Stretched, Heel-contact and Toe-off Motion by a Humanoid Robot," Proc. of the IEEE/RSJ international conference on intelligent robots and systems, pp. 2497-2502, 2006.
18. M. Vukobratovic, Yu. Stepanenko, "On the Stability of Anthropomorphic Systems," Mathematical Biosciences, vol. 15, no. 1, pp. 1-37, 1972.