Study on Biped Walking Robot Adaptable to Various Road Profiles

2014 Fiscal Year Final Research Report

• Project/Area Number: 25870819
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems; Control engineering/System engineering
• Research Institution: Waseda University
• Principal Investigator: KANG HYUN-JIN 早稲田大学, 理工学術院, 招聘研究員 (70625235)
• Project Period (FY): 2013-04-01 – 2015-03-31
• Keywords: 軟弱路面 / 不整地路面 / 2足歩行 / 路面モデル / 路面性状 / 路面性状測定装置 / 適応歩行 / ヒューマノイドロボット

Outline of Final Research Achievements

For the purpose of realization of biped walking robot adaptable to various road profiles, we investigated the characteristics of various roads in real environment and modeled them formulating reproducible road profile parameters of hard or soft road, etc. Using spring and damper, we materialized three-dimensional road models that have axes of X, Y,Z and rotation axes of Roll, Pitch, Yaw and developed road profile measuring equipment in order to measure the parameters.
We realized walking on 35[mm] sponge as well as walking on uneven hard road surface with a new method of modifying foot joint angle according to road deformation of the road models. Finally, we succeeded in walking on 50[mm] sponge which is very soft and has density 22±2[kg/m3] as using the method of controlling the ground reaction force.

Free Research Field

ロボット工学