Verification of biped robot using point-contact type foot with springs for walking on rough terrain

2012 ◽  
Author(s):  
Moyuru Yamada ◽  
Shigenori Sano ◽  
Naoki Uchiyama
Keyword(s):  
Point Contact ◽  
Biped Robot ◽  
Rough Terrain ◽  
Contact Type

Design of point-contact type foot with springs for biped robot

2010 ◽  
Author(s):  
Moyuru Yamada ◽  
Hiromu Maie ◽  
Yusuke Maeno ◽  
Shigenori Sano ◽  
Naoki Uchiyama
Keyword(s):  
Point Contact ◽  
Biped Robot ◽  
Contact Type

PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment

2012 ◽  
Vol 24 (1) ◽  
pp. 37-46 ◽  
Author(s):  
Tadayoshi Aoyama ◽  
◽  
Kosuke Sekiyama ◽  
Yasuhisa Hasegawa ◽  
Toshio Fukuda ◽  
...  
Keyword(s):  
Autonomous System ◽  
Inverted Pendulum ◽  
Point Contact ◽  
Rough Terrain ◽  
Stable Range ◽  
Biped Walking ◽  
Environmental Adaptability ◽  
The Stability ◽  
Walking Adaptability ◽  
Biped Walking Control

This paper deals with the 3-D biped walking of a humanoid type robot over rough terrain. We previously proposed efficient 3-D biped walking control using Passive Dynamic Autonomous Control (PDAC) based on the assumption of point-contact and virtual holonomic constraint of robot joints. Walking adaptability has not, however, been analyzed. We thus analyze the environmental adaptability of PDAC-based walking method in this paper. The robot is modeled as a variable-length 3-D inverted pendulum whose dynamics is modeled as a 2-D autonomous system by applying PDAC. We analyze the stability of the 2-D autonomous system using a Poincaré map and derive the stable range of uneven height over rough terrain. We then experimentally validate 3-D biped walking on unknown rough terrain using our humanoid type robot, Gorilla Robot III.

A Study of the Sole Mechanism of Biped Robots to Rough Terrain Locomotion

2012 ◽  
Vol 24 (5) ◽  
pp. 902-907 ◽  
Author(s):  
Takumi Yokomichi ◽  
◽  
Nobuhiro Ushimi ◽  
Keyword(s):  
Biped Robot ◽  
Level Surface ◽  
Rough Terrain ◽  
Biped Robots ◽  
Walking Control

This paper describes the study of a biped robot foot sole mechanism for use in unknown rough terrain locomotion. The mechanism has a structure consisting of three toes and frictional locking and unlocking mechanisms. The mechanisms level the bottom of the biped robot’s foot by using the three toes when on unknown rough terrain. To stabilize the sole of the biped robot on a level surface, the frictional locking and unlocking mechanisms of the three toes are used for the sole mechanism. Stable walking control of the biped robot is simplified by the sole mechanism we developed.

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