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

Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Masaru Uchiyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2010 IEEE/SICE International Symposium on System Integration
Subtitle of host publicationSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages61-66
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
Duration: 2010 Dec 212010 Dec 22

Publication series

Name2010 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
CountryJapan
CitySendai
Period10/12/2110/12/22

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Komizunai, S., Konno, A., Abiko, S., & Uchiyama, M. (2010). Development of a static sinkage model for a biped robot on loose soil. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings (pp. 61-66). [5708302] (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). https://doi.org/10.1109/SII.2010.5708302