Method for adapting to rough terrain based on environmental modes for biped robots

Eijiro Ohashi, Tomoya Sato, Kouhei Ohnishi

研究成果: Article査読

抄録

This paper describes a method for adapting to rough terrain for biped robots. The robots obtain information of reaction force from the ground by sensors located at each corner of rectangular soles. From the sensor information, environmental modes are extracted. The environmental modes consist of four modes: heaving, rolling, pitching, and twisting, which represent contact states between the ground and the soles. On the basis of the twisting mode, the robot detects the unevenness of the ground, makes contact with the uneven ground stably with three corners of the sole, and modifies the trajectory to continue stable walking. The validity of the proposed method is confirmed by experimental results.

本文言語English
ページ(範囲)881-889+4
ジャーナルieej transactions on industry applications
129
9
DOI
出版ステータスPublished - 2009 10月 23

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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