Realization of Quick Turn of Biped Humanoid Robot by Using Slipping Motion with Both Feet
This paper describes a fast turning method for a humanoid robot by using slipping motion with both feet. The humanoid robot, WABIAN-2R, has achieved human-like walking with heel contact and toe off motions by using a human-like foot mechanism with a passive toe joint. The human-like foot enables a robot to turn by using slipping motion between the feet and the ground because it can switch ground contact conditions such as heel contact, sole contact and toe contact. To realize a slipping turn, we develop an attitude control. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a quick turn by using slipping motion with both feet. We also confirmed that the energy consumption of a slipping turn is less than that of a stepping turn.
Kenji Hashimoto Yuki Yoshimura Hideki Kondo Hun-ok Lim Atsuo Takanishi
Faculty of Science and Engineering,Waseda University,＃41-304,17 Kikui-cho,Shinjuku-ku,Tokyo 162-0044 School of Science and Engineering,Waseda University Faculty of Engineering,Kanagawa University Department of Modern Mechanical Engineering,Waseda University
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2041-2046
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）