New Biped Foot System Adaptable to Uneven Terrain
Kenji Hashimoto*, Yusuke Sugahara*, Hun-ok Lim**,***,
and Atsuo Takanishi*,***
*Department of Mechanical Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan
**Department of Mechanical Engineering, Kanagawa University, 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama-shi, Kanagawa 221-8686, Japan
***Humanoid Robotics Institute (HRI), Waseda University, 17-41-2-04A Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan
Many types of control have been studied assuming that soles of a biped robot’s feet contact the ground at four points. The rigid, flat soles of most such robots rarely maintain four-point contact on uneven terrain, however, and may lose balance. Solving this problem requires that both control and the foot itself be studied. We developed a new foot system, Waseda Shoes – No.1 (WS-1) to maintain four-point contact on uneven terrain, followed by Waseda Shoes – No.1 Refined (WS-1R), which solved problems with WS-1. Hardware experiment confirmed WS-1R feasibility.
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