a. Description:
Many control methods have been studied on the assumption that the feet of biped robots contact the ground with four points. However, it is difficult for almost all of such biped robots to maintain four-point contact on uneven terrains because they have rigid and flat soles. In order to solve the problem, not only stability controls but also foot mechanisms should be studied. So, we developed a foot system, WS-5 (Waseda Shoes - No.5) that can maintain four-point contact on uneven terrain, different from conventional foot systems. WS-5 is adaptable to convex and concave surface with 20mm height. The robot mounted on WS-5 realized a stable walking to step on and down the 20mm thick board.

b. Player Information:
This movie was encoded to MPEG-1. So you need at least Windows Media Player ver.9.

c. Contact Information:
Kenji Hashimoto is with the Graduate School of Science and Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, JAPAN (corresponding author to provide phone: +81-3-5286-3657; fax: +81-3-5273-2209; e-mail: hashimoto@suou.waseda.jp).

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