ICRA 2012 Paper Abstract


Paper WeD09.3

Miura, Kanako (National Institute of AIST), Kanehiro, Fumio (National Inst. of AIST), Kaneko, Kenji (National Inst. of AIST), Kajita, Shuuji (National Inst. of AIST), Yokoi, Kazuhito (National Inst. of AIST)

Quick Slip-Turn of HRP-4C on Its Toes

Scheduled for presentation during the Video Session "Video Session" (WeD09), Wednesday, May 16, 2012, 16:40−16:45, Meeting Room 9 (Sa)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 20, 2018

Keywords Humanoid and Bipedal Locomotion, Humanoid Robots


In this video, we present the realization of quick turning motion of a humanoid robot on its toes via slipping between its feet and the floor. A rotation model is described on the basis of our hypothesis that turning via slip occurs as a result of minimizing the power caused by floor friction. Using the model, the trajectory of the center of the foot can be generated to realize the desired rotational angle. Toe joints are used to realize quicker turning motion, while avoiding excessive motor load due to frictional torque. Quick slip-turn motion with toe support is successfully demonstrated using a humanoid robot HRP-4C.



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