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

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

研究成果: Conference contribution

1 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトル2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
ページ869-874
ページ数6
DOI
出版物ステータスPublished - 2011
イベント2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey
継続期間: 2011 4 132011 4 15

Other

Other2011 IEEE International Conference on Mechatronics, ICM 2011
Turkey
Istanbul
期間11/4/1311/4/15

Fingerprint

Robots
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

これを引用

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

研究成果: 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. : 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings., 5971236, pp. 869-874, 2011 IEEE International Conference on Mechatronics, ICM 2011, Istanbul, Turkey, 11/4/13. https://doi.org/10.1109/ICMECH.2011.5971236
Sato T, Sakaino S, Ohnishi K. Adaptation method using environmental modes for biped robot with toe and heel joints on unknown uneven terrain. : 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings. 2011. p. 869-874. 5971236 https://doi.org/10.1109/ICMECH.2011.5971236
Sato, Tomoya ; Sakaino, Sho ; Ohnishi, Kouhei. / Adaptation method using environmental modes for biped robot with toe and heel joints on unknown uneven terrain. 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings. 2011. pp. 869-874
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