Motion control of environmental adaptation for biped robot

Eijiro Ohashi, Tomoya Sato, Kouhei Ohnishi

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

5 Citations (Scopus)

Abstract

This paper describes adaptive motion of a biped robot with the flat soles. The robot obtains the information of reaction force from the ground by sensors at each corner of the soles. From the sensor information, environment modes are extracted. By utilizing environment mode information, the robot can detect unevenness of the environment. In some cases, the robot cannot achieve stable walking motion because of the unstable contact between the sole and the ground. In order to walk stably on the uneven ground, the robot should contact with three corners of the sole since 3-point contact is stable. Therefore, in this research, we propose a method that is applicable to the robot on the uneven ground. 3-point contact is achieved by determining the environment modes.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages306-311
Number of pages6
Volume1
DOIs
Publication statusPublished - 2008
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

Fingerprint

Biped Robot
Motion Control
Motion control
Robot
Robots
Contact
Point contacts
Sensor
Motion
Walk
Sensors
Unstable

ASJC Scopus subject areas

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

Cite this

Ohashi, E., Sato, T., & Ohnishi, K. (2008). Motion control of environmental adaptation for biped robot. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 306-311). [4516084] https://doi.org/10.1109/AMC.2008.4516084

Motion control of environmental adaptation for biped robot. / Ohashi, Eijiro; Sato, Tomoya; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 306-311 4516084.

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

Ohashi, E, Sato, T & Ohnishi, K 2008, Motion control of environmental adaptation for biped robot. in International Workshop on Advanced Motion Control, AMC. vol. 1, 4516084, pp. 306-311, 10th International Workshop on Advanced Motion Control, AMC'08, Trento, Italy, 08/3/26. https://doi.org/10.1109/AMC.2008.4516084
Ohashi E, Sato T, Ohnishi K. Motion control of environmental adaptation for biped robot. In International Workshop on Advanced Motion Control, AMC. Vol. 1. 2008. p. 306-311. 4516084 https://doi.org/10.1109/AMC.2008.4516084
Ohashi, Eijiro ; Sato, Tomoya ; Ohnishi, Kouhei. / Motion control of environmental adaptation for biped robot. International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. pp. 306-311
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