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

Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Masaru Uchiyama

    研究成果: Conference contribution

    11 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトル2010 IEEE/SICE International Symposium on System Integration
    ホスト出版物のサブタイトルSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
    ページ61-66
    ページ数6
    DOI
    出版ステータスPublished - 2010 12 1
    イベント3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
    継続期間: 2010 12 212010 12 22

    出版物シリーズ

    名前2010 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
    国/地域Japan
    CitySendai
    Period10/12/2110/12/22

    ASJC Scopus subject areas

    • 制御およびシステム工学

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