Development of a static sinkage model for a biped robot on loose soil

Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    10 Citations (Scopus)

    Abstract

    This paper addresses the development of a dynamics simulator that for a biped robot on loose soil. Especially, the paper focuses on the method of sinkage calculation which is one of the characteristics for walking on loose soil. The calculation algorithm is changed dynamically according to the support condition of the legs. Considering ground projection of center of mass (GCoM) as a center of rotation of a robot, angle of trim is also estimated. Additionally, to describe the dynamical variation of sinkage, a filtering method is proposed for the calculation result. By applying the proposed method, sinkage phenomenon of a biped robot during stepping is simulated realistically.

    Original languageEnglish
    Title of host publication2010 IEEE/SICE International Symposium on System Integration
    Subtitle of host publicationSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
    Pages61-66
    Number of pages6
    DOIs
    Publication statusPublished - 2010 Dec 1
    Event3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
    Duration: 2010 Dec 212010 Dec 22

    Publication series

    Name2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

    Other

    Other3rd International Symposium on System Integration, SII 2010
    CountryJapan
    CitySendai
    Period10/12/2110/12/22

    ASJC Scopus subject areas

    • Control and Systems Engineering

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  • Cite this

    Komizunai, S., Konno, A., Abiko, S., & Uchiyama, M. (2010). Development of a static sinkage model for a biped robot on loose soil. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings (pp. 61-66). [5708302] (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). https://doi.org/10.1109/SII.2010.5708302