History of Robotics Research and Development of Japan1997LocomotionDevelopment of a Biped Walking Robot Adapting to an Unknown Uneven Surface

Jinichi YamaguchiWaseda University
Noboru KinoshitaMatsushita Electric Industrial Co., Ltd.
Atsuo TakanishiWaseda University
Ichiro KatoWaseda University
In this paper, the authors introduce a biped walking control method for a dapping to an unknown uneven surface, and a biped walking robot which has a special foot mechanism for the control method. The biped walking robot has an ability to acquire, during its dynamic walking, the information of the landing surface's height and angle of inclination. THe authors performed adaptive walking experiments with the robot using the control method. As a result, dynamic biped walking adapting to an unknown uneven surface was realized. The adaptable uneven surface's height range per one step walking was from -16 to +16[mm], and the adaptable angle of inclination range was from -3 to +3° at the maximum walking speed of 1.28[sec] per step with a 0.3[m] step length. 11th RSJ Best Paper Award in 1997


Correspondence papers

Jinichi Yamaguchi, Noboru Kinoshita, Atsuo Takanishi, and Ichiro Kato:Development of a Biped Walking Robot Adapting to an Unknown Uneven Surface

Journal of the Robotics Society of Japan, Vol. 14, No. 4, pp. 546-559,1996 (in Japanese).

Related papers

[1] A. Takanishi, Hun-ok Lim, M. Tsuda and I. Kato: Realization of Dynamic Biped Walking Stabilized by Trunk Motion on a Sagittally Uneven Surface, IROS'90, pp.323-330, 1990.

[2] A. Takanishi, T. Takeya, H. Karaki and I. Kato: A Control Method for Dynamic Biped Walking Under Unknown External Force, IROS'90, pp.795-801, 1990.

[3] 山口,高西,加藤:上体運動により3軸モーメントを補償する2足歩行ロボッ トの開発,日本ロボット学会誌,11巻,4号,pp.581-586,1993.

[4] 山口,高西,加藤,路面形状に偏差のある環境における2足歩行制御-未知の凹凸路面に対する適応歩行の実現-,日本ロボット学会誌,13巻,7号,pp.1030-1037, 1995.

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