TY - GEN
T1 - Adaptation method using environmental modes for biped robot with toe and heel joints on unknown uneven terrain
AU - Sato, Tomoya
AU - Sakaino, Sho
AU - Ohnishi, Kouhei
PY - 2011/9/2
Y1 - 2011/9/2
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=80052163245&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80052163245&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2011.5971236
DO - 10.1109/ICMECH.2011.5971236
M3 - Conference contribution
AN - SCOPUS:80052163245
SN - 9781612849836
T3 - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
SP - 869
EP - 874
BT - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
T2 - 2011 IEEE International Conference on Mechatronics, ICM 2011
Y2 - 13 April 2011 through 15 April 2011
ER -