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

Shunsuke Komizunai; Atsushi Konno; Satoko Abiko; Masaru Uchiyama

doi:10.1109/SII.2010.5708302

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 proceeding › Conference contribution

13 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 language	English
Title of host publication	2010 IEEE/SICE International Symposium on System Integration
Subtitle of host publication	SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages	61-66
Number of pages	6
DOIs	https://doi.org/10.1109/SII.2010.5708302
Publication status	Published - 2010 Dec 1
Event	3rd International Symposium on System Integration, SII 2010 - Sendai, Japan Duration: 2010 Dec 21 → 2010 Dec 22

Publication series

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

Other

Other	3rd International Symposium on System Integration, SII 2010
Country/Territory	Japan
City	Sendai
Period	10/12/21 → 10/12/22

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/SII.2010.5708302

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

Development of a static sinkage model for a biped robot on loose soil. / Komizunai, Shunsuke; Konno, Atsushi; Abiko, Satoko et al.

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. p. 61-66 5708302 (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 5708302, 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings, pp. 61-66, 3rd International Symposium on System Integration, SII 2010, Sendai, Japan, 10/12/21. https://doi.org/10.1109/SII.2010.5708302

Komizunai S, Konno A, Abiko S, Uchiyama M. 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. 2010. p. 61-66. 5708302. (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). doi: 10.1109/SII.2010.5708302

Komizunai, Shunsuke ; Konno, Atsushi ; Abiko, Satoko et al. / Development of a static sinkage model for a biped robot on loose soil. 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings. 2010. pp. 61-66 (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings).

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

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