Conference proceeding
Ski-type self-balance biped walking for rough terrain
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, 3452
01 May 2014
Abstract
Conference Title: 2014 IEEE International Conference on Robotics and Automation (ICRA) Conference Start Date: 2014, May 31 Conference End Date: 2014, June 7 Conference Location: Hong Kong, China This paper introduces a new approach for humanoid robot quasi-static walking for improving stability performance, which is called ski-type walking. By adding two canes held by hands, the supporting region and stability margin are enlarged in comparison with biped walking. We first study the mechanism of cane-assisted walking by human beings. Based on the study, we develop two ski-type gaits, Crawl_1 and Craw-2, respectively for the humanoid robot Hubo. The stability performance for the two configurations is compared, which leads to the adoption of the Crawl_2 gait. Furthermore the length of the canes is selected to support a feasible while stable Crawl_2 gait. Finally simulation and experiments are performed to verify the new ski-type gait.
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Details
- Title
- Ski-type self-balance biped walking for rough terrain
- Creators
- Hongfei WangShimeng LiYuan F ZhengTaegoo KimPaul Oh
- Publication Details
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, 3452
- Publisher
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
- Resource Type
- Conference proceeding
- Language
- English
- Identifiers
- 991019348637604721