Adaptive gait for dynamic rotational walking motion by ASTERISK

Chayooth Theeravithayangkura; Tomohito Takubo; Kenichi Ohara; Yasushi Mae; Tatsuo Arai

doi:10.1109/ROBIO.2011.6181264

Adaptive gait for dynamic rotational walking motion by ASTERISK

Chayooth Theeravithayangkura^*, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

^*Corresponding author for this work

The University of Osaka

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

1 Citation (Scopus)

Abstract

Adaptive gait for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The adaptive gait is a motion where the robot can adapt itself to environment by utilizing virtual plane without any case-by-case command for each situations from user. With internal sensing and proposed method, the robot knows how to response to its environment. As all the terrains in actual world is not ground leveled, the authors also optimized robot postures for each virtualized plane inclined-angle by using Genetic Algorithms. The adaptive gait is confirmed in the dynamic simulator, Open Dynamic Engine, before testing with actual robot. The robot could walk on the terrain with approximately 6 degree in both upward and downward directions without falling down.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages	68-73
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2011.6181264
Publication status	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand Duration: 7 Dec 2011 → 11 Dec 2011

Publication series

Name	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Conference

Conference	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Country/Territory	Thailand
City	Phuket
Period	7/12/11 → 11/12/11

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10.1109/ROBIO.2011.6181264

Cite this

@inproceedings{1ff40ddbe2654de1830849f289460d5e,

title = "Adaptive gait for dynamic rotational walking motion by ASTERISK",

abstract = "Adaptive gait for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The adaptive gait is a motion where the robot can adapt itself to environment by utilizing virtual plane without any case-by-case command for each situations from user. With internal sensing and proposed method, the robot knows how to response to its environment. As all the terrains in actual world is not ground leveled, the authors also optimized robot postures for each virtualized plane inclined-angle by using Genetic Algorithms. The adaptive gait is confirmed in the dynamic simulator, Open Dynamic Engine, before testing with actual robot. The robot could walk on the terrain with approximately 6 degree in both upward and downward directions without falling down.",

author = "Chayooth Theeravithayangkura and Tomohito Takubo and Kenichi Ohara and Yasushi Mae and Tatsuo Arai",

year = "2011",

doi = "10.1109/ROBIO.2011.6181264",

language = "English",

isbn = "9781457721373",

series = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011",

pages = "68--73",

booktitle = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011",

note = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 ; Conference date: 07-12-2011 Through 11-12-2011",

}

Theeravithayangkura, C, Takubo, T, Ohara, K, Mae, Y & Arai, T 2011, Adaptive gait for dynamic rotational walking motion by ASTERISK. in 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011., 6181264, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, pp. 68-73, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Phuket, Thailand, 7/12/11. https://doi.org/10.1109/ROBIO.2011.6181264

Adaptive gait for dynamic rotational walking motion by ASTERISK. / Theeravithayangkura, Chayooth; Takubo, Tomohito; Ohara, Kenichi et al.
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 68-73 6181264 (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011).

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

TY - GEN

T1 - Adaptive gait for dynamic rotational walking motion by ASTERISK

AU - Theeravithayangkura, Chayooth

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AU - Ohara, Kenichi

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AU - Arai, Tatsuo

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AB - Adaptive gait for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The adaptive gait is a motion where the robot can adapt itself to environment by utilizing virtual plane without any case-by-case command for each situations from user. With internal sensing and proposed method, the robot knows how to response to its environment. As all the terrains in actual world is not ground leveled, the authors also optimized robot postures for each virtualized plane inclined-angle by using Genetic Algorithms. The adaptive gait is confirmed in the dynamic simulator, Open Dynamic Engine, before testing with actual robot. The robot could walk on the terrain with approximately 6 degree in both upward and downward directions without falling down.

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M3 - Conference contribution

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SN - 9781457721373

T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

SP - 68

EP - 73

BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Y2 - 7 December 2011 through 11 December 2011

ER -

Adaptive gait for dynamic rotational walking motion by ASTERISK

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