TY - GEN
T1 - Development of a static sinkage model for a biped robot on loose soil
AU - Komizunai, Shunsuke
AU - Konno, Atsushi
AU - Abiko, Satoko
AU - Uchiyama, Masaru
PY - 2010/12/1
Y1 - 2010/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=79952809496&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79952809496&partnerID=8YFLogxK
U2 - 10.1109/SII.2010.5708302
DO - 10.1109/SII.2010.5708302
M3 - Conference contribution
AN - SCOPUS:79952809496
SN - 9781424493159
T3 - 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
SP - 61
EP - 66
BT - 2010 IEEE/SICE International Symposium on System Integration
T2 - 3rd International Symposium on System Integration, SII 2010
Y2 - 21 December 2010 through 22 December 2010
ER -