Method for adapting to rough terrain based on environmental modes for biped robots

Eijiro Ohashi, Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review


This paper describes a method for adapting to rough terrain for biped robots. The robots obtain information of reaction force from the ground by sensors located at each corner of rectangular soles. From the sensor information, environmental modes are extracted. The environmental modes consist of four modes: heaving, rolling, pitching, and twisting, which represent contact states between the ground and the soles. On the basis of the twisting mode, the robot detects the unevenness of the ground, makes contact with the uneven ground stably with three corners of the sole, and modifies the trajectory to continue stable walking. The validity of the proposed method is confirmed by experimental results.

Original languageEnglish
Pages (from-to)881-889+4
Journalieej transactions on industry applications
Issue number9
Publication statusPublished - 2009
Externally publishedYes


  • Biped robot
  • Environmental mode
  • Gait control
  • Rough terrain
  • Trajectory modification
  • ZMP

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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