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Improved walking motion for a biped robot using piezoelectric ceramic sensors
Hiroyoshi Nakayama,Kajiro Watanabe 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The walking motion of a biped robot was improved through the use of piezoelectric ceramic sensors. Humans are able to walk stably on uneven ground by adjusting the ankle angle in response to tactile signals from the legs. To provide a similar capability for a biped robot, piezoelectric ceramic sensors were installed on the soles of the robot’ feet.