ICRA 2011 Paper Abstract


Paper TuP203.4

Hashimoto, Kenji (Waseda University), Yoshimura, Yuki (Waseda University), Kondo, Hideki (Waseda University), Lim, Hun-ok (Kanagawa University), Takanishi, Atsuo (Waseda University)

Realization of Quick Turn of Biped Humanoid Robot by Using Slipping Motion with Both Feet

Scheduled for presentation during the Regular Sessions "Humanoid Robots II" (TuP203), Tuesday, May 10, 2011, 16:10−16:25, Room 3D

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 April 2, 2020

Keywords Humanoid Robots, Humanoid and Bipedal Locomotion, Biomimetics


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.



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