New Foot System Adaptable to Convex and Concave Surface

  title={New Foot System Adaptable to Convex and Concave Surface},
  author={Kenji Hashimoto and Yusuke Sugahara and Akihiro Hayashi and Masamiki Kawase and Terumasa Sawato and Nobutsuna Endo and Akihiro Ohta and Chiaki Tanaka and Hun-ok Lim and Atsuo Takanishi},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
Many control methods have been studied on the assumption that the feet of biped robots contact the ground with four points. However, it is difficult for almost all of such biped robots to maintain four-point contact on uneven terrains because they have rigid and flat soles. In order to solve the problem, foot mechanisms should be studied. In 2003, we developed WS-1R (Waseda Shoes - No.1 Refined) which is able to maintain four-point contact. However, it is difficult to deal with the concave or… CONTINUE READING
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