Flexible foot design for biped walking on uneven terrain

Chen Koon Toh; Ming Xie; Hejin Yang; Guoqing Zhang; Quoc Phuong Bui; Bo Tian

doi:10.1007/978-3-642-16584-9_43

Flexible foot design for biped walking on uneven terrain

Chen Koon Toh, Ming Xie, Hejin Yang, Guoqing Zhang, Quoc Phuong Bui, Bo Tian

Nanyang Technological University

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

2 Citations (Scopus)

Abstract

Mechanical design of feet for humanoid robot is described to be used with planning and control strategy to overcome issues on uneven terrain walking. The gait planning and control method are explained briefly in this paper, while the foot mechanism design to complement the control algorithm is presented with full details. The design limitations and specifications are reported and the design criteria cum selection of mechanical components are closely examined. Important functions like obstacle detection and shock absorption are included in the design with low cost approach. The 3D drawing of final assembly and finished prototype are included.

Original language	English
Title of host publication	Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings
Pages	442-452
Number of pages	11
Edition	PART 1
DOIs	https://doi.org/10.1007/978-3-642-16584-9_43
Publication status	Published - 2010
Externally published	Yes
Event	3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010 - Shanghai, China Duration: 10 Nov 2010 → 12 Nov 2010

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	6424 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010
Country/Territory	China
City	Shanghai
Period	10/11/10 → 12/11/10

Keywords

Biped Walking
Flexible Foot
Humanoid Robot
Uneven Terrain

Access to Document

10.1007/978-3-642-16584-9_43

Cite this

Toh, C. K., Xie, M., Yang, H., Zhang, G., Bui, Q. P., & Tian, B. (2010). Flexible foot design for biped walking on uneven terrain. In Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings (PART 1 ed., pp. 442-452). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6424 LNAI, No. PART 1). https://doi.org/10.1007/978-3-642-16584-9_43

Toh, Chen Koon ; Xie, Ming ; Yang, Hejin et al. / Flexible foot design for biped walking on uneven terrain. Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 1. ed. 2010. pp. 442-452 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

@inproceedings{93cd72faf2054da7b33ed458bb2db697,

title = "Flexible foot design for biped walking on uneven terrain",

abstract = "Mechanical design of feet for humanoid robot is described to be used with planning and control strategy to overcome issues on uneven terrain walking. The gait planning and control method are explained briefly in this paper, while the foot mechanism design to complement the control algorithm is presented with full details. The design limitations and specifications are reported and the design criteria cum selection of mechanical components are closely examined. Important functions like obstacle detection and shock absorption are included in the design with low cost approach. The 3D drawing of final assembly and finished prototype are included.",

keywords = "Biped Walking, Flexible Foot, Humanoid Robot, Uneven Terrain",

author = "Toh, {Chen Koon} and Ming Xie and Hejin Yang and Guoqing Zhang and Bui, {Quoc Phuong} and Bo Tian",

year = "2010",

doi = "10.1007/978-3-642-16584-9_43",

language = "English",

isbn = "3642165834",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

number = "PART 1",

pages = "442--452",

booktitle = "Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings",

edition = "PART 1",

note = "3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010 ; Conference date: 10-11-2010 Through 12-11-2010",

}

Toh, CK, Xie, M, Yang, H, Zhang, G, Bui, QP & Tian, B 2010, Flexible foot design for biped walking on uneven terrain. in Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 1 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 6424 LNAI, pp. 442-452, 3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010, Shanghai, China, 10/11/10. https://doi.org/10.1007/978-3-642-16584-9_43

Flexible foot design for biped walking on uneven terrain. / Toh, Chen Koon; Xie, Ming; Yang, Hejin et al.
Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 1. ed. 2010. p. 442-452 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6424 LNAI, No. PART 1).

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

TY - GEN

T1 - Flexible foot design for biped walking on uneven terrain

AU - Toh, Chen Koon

AU - Xie, Ming

AU - Yang, Hejin

AU - Zhang, Guoqing

AU - Bui, Quoc Phuong

AU - Tian, Bo

PY - 2010

Y1 - 2010

N2 - Mechanical design of feet for humanoid robot is described to be used with planning and control strategy to overcome issues on uneven terrain walking. The gait planning and control method are explained briefly in this paper, while the foot mechanism design to complement the control algorithm is presented with full details. The design limitations and specifications are reported and the design criteria cum selection of mechanical components are closely examined. Important functions like obstacle detection and shock absorption are included in the design with low cost approach. The 3D drawing of final assembly and finished prototype are included.

AB - Mechanical design of feet for humanoid robot is described to be used with planning and control strategy to overcome issues on uneven terrain walking. The gait planning and control method are explained briefly in this paper, while the foot mechanism design to complement the control algorithm is presented with full details. The design limitations and specifications are reported and the design criteria cum selection of mechanical components are closely examined. Important functions like obstacle detection and shock absorption are included in the design with low cost approach. The 3D drawing of final assembly and finished prototype are included.

KW - Biped Walking

KW - Flexible Foot

KW - Humanoid Robot

KW - Uneven Terrain

UR - http://www.scopus.com/inward/record.url?scp=78650452948&partnerID=8YFLogxK

U2 - 10.1007/978-3-642-16584-9_43

DO - 10.1007/978-3-642-16584-9_43

M3 - Conference contribution

AN - SCOPUS:78650452948

SN - 3642165834

SN - 9783642165832

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 442

EP - 452

BT - Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings

T2 - 3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010

Y2 - 10 November 2010 through 12 November 2010

ER -

Toh CK, Xie M, Yang H, Zhang G, Bui QP, Tian B. Flexible foot design for biped walking on uneven terrain. In Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 1 ed. 2010. p. 442-452. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). doi: 10.1007/978-3-642-16584-9_43

Flexible foot design for biped walking on uneven terrain

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this