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

Tomoya Sato; Sho Sakaino; Kouhei Ohnishi

doi:10.1109/ICMECH.2011.5971236

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

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
Pages	869-874
Number of pages	6
DOIs	https://doi.org/10.1109/ICMECH.2011.5971236
Publication status	Published - 2011 Sept 2
Event	2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey Duration: 2011 Apr 13 → 2011 Apr 15

Publication series

Name	2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

Other

Other	2011 IEEE International Conference on Mechatronics, ICM 2011
Country/Territory	Turkey
City	Istanbul
Period	11/4/13 → 11/4/15

ASJC Scopus subject areas

Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/ICMECH.2011.5971236

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

Adaptation method using environmental modes for biped robot with toe and heel joints on unknown uneven terrain. / Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei.
2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings. 2011. p. 869-874 5971236 (2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings).

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

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., 5971236, 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings, pp. 869-874, 2011 IEEE International Conference on Mechatronics, ICM 2011, Istanbul, Turkey, 11/4/13. https://doi.org/10.1109/ICMECH.2011.5971236

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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.",

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

Abstract

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