scholarly journals Landing Control of Point-Contact Type Foot with Springs for Walking on Rough Terrain with Unknown Condition

2011 ◽  
Vol 77 (777) ◽  
pp. 2052-2061
Author(s):  
Moyuru YAMADA ◽  
Hiromu MAIE ◽  
Shigenori SANO ◽  
Naoki UCHIYAMA
Keyword(s):  
Point Contact ◽  
Rough Terrain ◽  
Contact Type ◽  
Landing Control

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

scholarly journals Landing Control of Foot with Springs for Walking on Rough Terrain with Unknown Landing Height

2010 ◽  
Vol 28 (9) ◽  
pp. 1137-1143 ◽  
Author(s):  
Moyuru Yamada ◽  
Shigenori Sano ◽  
Naoki Uchiyama ◽  
Shoji Takagi
Keyword(s):  
Rough Terrain ◽  
Landing Control

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.

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