ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.23

Koeda, Masanao (Osaka Electro-Communication University), Uda, Yumi (Ritsumeikan Univ.), Sugiyama, Seiji (Ritsumeikan University), Yoshikawa, Tsuneo (Ritsumeikan University)

Shuffle Turn and Translation of Humanoid Robots

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 29, 2020

Keywords Multi-legged Robots, Motion Control of Manipulators, Humanoid Robots


This paper proposes a novel shuffle-translating method that combines shuffle turns repeatedly for a humanoid robot. Conventionally, the walking motion of a humanoid robot is performed through a repeated foot stepping motion. However, this motion is inefficient and has low stability. Previously, we have studied the shuffle-turning method for a humanoid robot, which can perform a stepless and stable turning. In this paper, we present a precise shuffle turn with feedback control and a new shuffle translation method by repeating shuffle turns. Experiments using a humanoid robot were conducted and the results revealed that the proposed method was effective for shuffle translation.



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