Adaptation method using environmental modes for biped robot with toe and heel joints on unknown uneven terrain

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

This research proposes an adaptation method using environmental modes for biped robots with toe and heel joints on unknown uneven terrain. The method treats information of uneven terrain as environmental modes, and derives references for controllers for adaptation. Using the proposed method, adaptation to complex uneven terrain can be achieved. Simulation and experimental results in a sagittal plane confirmed the validity of the proposed method.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
Pages869-874
Number of pages6
DOIs
Publication statusPublished - 2011 Sep 2
Event2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey
Duration: 2011 Apr 132011 Apr 15

Publication series

Name2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

Other

Other2011 IEEE International Conference on Mechatronics, ICM 2011
CountryTurkey
CityIstanbul
Period11/4/1311/4/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Sato, T., Sakaino, S., & Ohnishi, K. (2011). Adaptation method using environmental modes for biped robot with toe and heel joints on unknown uneven terrain. In 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings (pp. 869-874). [5971236] (2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings). https://doi.org/10.1109/ICMECH.2011.5971236