A method of adapting motion to depressed environment for biped robot

Kei Mikami; Kouhei Ohnishi

doi:10.1109/AMC.2010.5464063

A method of adapting motion to depressed environment for biped robot

Kei Mikami, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper describes adapting motion of a biped robot. In some cases that biped robots walk in human environment, the robots encounter non-flat surfaces. To adapt to such environment, it is necessary to get environmental information by sensors. In this paper, the environmental information is transformed into useful structure, defined as "environmental modes". The environmental modes consist of four modes; heaving, rolling, pitching, and twisting. By controlling biped robots, based on the environmental modes, they can adapt to non-flat surfaces. However, the environment with depressions is not considered in the conventional studies on controlling the environmental modes. Therefore, this research focuses on adapting motion to the depressed environment. A tip of the swing leg reached the bottom of depressions according to the heaving mode. The conventional study on controlling the environmental modes is introduced and extended in the proposed method. The experimental results showed the validity of the proposed method.

Original language	English
Title of host publication	AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages	595-600
Number of pages	6
DOIs	https://doi.org/10.1109/AMC.2010.5464063
Publication status	Published - 2010 Jun 25
Event	2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan Duration: 2010 Mar 21 → 2010 Mar 24

Publication series

Name	International Workshop on Advanced Motion Control, AMC

Other

Other	2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Country	Japan
City	Nagaoka, Niigata
Period	10/3/21 → 10/3/24

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/AMC.2010.5464063

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Mikami, K & Ohnishi, K 2010, A method of adapting motion to depressed environment for biped robot. in AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings., 5464063, International Workshop on Advanced Motion Control, AMC, pp. 595-600, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, Japan, 10/3/21. https://doi.org/10.1109/AMC.2010.5464063

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