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)

抜粋

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 9 2
イベント2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey
継続期間: 2011 4 132011 4 15

出版物シリーズ

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

Other

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • 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] (2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings). https://doi.org/10.1109/ICMECH.2011.5971236