A method of adapting motion to depressed environment for biped robot

Kei Mikami, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages595-600
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

Fingerprint

Biped Robot
Robots
Motion
Sensors
Walk
Robot
Sensor
Necessary
Experimental Results

ASJC Scopus subject areas

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

Cite this

Mikami, K., & Ohnishi, K. (2010). A method of adapting motion to depressed environment for biped robot. In International Workshop on Advanced Motion Control, AMC (pp. 595-600). [5464063] https://doi.org/10.1109/AMC.2010.5464063

A method of adapting motion to depressed environment for biped robot. / Mikami, Kei; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2010. p. 595-600 5464063.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mikami, K & Ohnishi, K 2010, A method of adapting motion to depressed environment for biped robot. in International Workshop on Advanced Motion Control, AMC., 5464063, 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
Mikami K, Ohnishi K. A method of adapting motion to depressed environment for biped robot. In International Workshop on Advanced Motion Control, AMC. 2010. p. 595-600. 5464063 https://doi.org/10.1109/AMC.2010.5464063
Mikami, Kei ; Ohnishi, Kouhei. / A method of adapting motion to depressed environment for biped robot. International Workshop on Advanced Motion Control, AMC. 2010. pp. 595-600
@inproceedings{b7d67aacfbb747b38a0ecc8b1cfcf082,
title = "A method of adapting motion to depressed environment for biped robot",
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.",
author = "Kei Mikami and Kouhei Ohnishi",
year = "2010",
doi = "10.1109/AMC.2010.5464063",
language = "English",
isbn = "9781424466696",
pages = "595--600",
booktitle = "International Workshop on Advanced Motion Control, AMC",

}

TY - GEN

T1 - A method of adapting motion to depressed environment for biped robot

AU - Mikami, Kei

AU - Ohnishi, Kouhei

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=77953790027&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77953790027&partnerID=8YFLogxK

U2 - 10.1109/AMC.2010.5464063

DO - 10.1109/AMC.2010.5464063

M3 - Conference contribution

SN - 9781424466696

SP - 595

EP - 600

BT - International Workshop on Advanced Motion Control, AMC

ER -