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 | International Workshop on Advanced Motion Control, AMC |
| Pages | 595-600 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2010 |
| Event | 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan Duration: 2010 Mar 21 → 2010 Mar 24 |
Other
| Other | 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 |
|---|---|
| Country | Japan |
| City | Nagaoka, Niigata |
| Period | 10/3/21 → 10/3/24 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Computer Science Applications
- Modelling and Simulation
Cite this
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 proceeding › Conference contribution
}
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
AN - SCOPUS:77953790027
SN - 9781424466696
SP - 595
EP - 600
BT - International Workshop on Advanced Motion Control, AMC
ER -