Realization of quick turn of biped humanoid robot by using slipping motion with both feet

Kenji Hashimoto, Yuki Yoshimura, Hideki Kondo, Hun Ok Lim, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    22 Citations (Scopus)

    Abstract

    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.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages2041-2046
    Number of pages6
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai
    Duration: 2011 May 92011 May 13

    Other

    Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    CityShanghai
    Period11/5/911/5/13

    Fingerprint

    Robots
    Attitude control
    Energy utilization
    Switches
    Experiments

    ASJC Scopus subject areas

    • Software
    • Artificial Intelligence
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

    Cite this

    Hashimoto, K., Yoshimura, Y., Kondo, H., Lim, H. O., & Takanishi, A. (2011). Realization of quick turn of biped humanoid robot by using slipping motion with both feet. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2041-2046). [5980498] https://doi.org/10.1109/ICRA.2011.5980498

    Realization of quick turn of biped humanoid robot by using slipping motion with both feet. / Hashimoto, Kenji; Yoshimura, Yuki; Kondo, Hideki; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 2041-2046 5980498.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Hashimoto, K, Yoshimura, Y, Kondo, H, Lim, HO & Takanishi, A 2011, Realization of quick turn of biped humanoid robot by using slipping motion with both feet. in Proceedings - IEEE International Conference on Robotics and Automation., 5980498, pp. 2041-2046, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, 11/5/9. https://doi.org/10.1109/ICRA.2011.5980498
    Hashimoto K, Yoshimura Y, Kondo H, Lim HO, Takanishi A. Realization of quick turn of biped humanoid robot by using slipping motion with both feet. In Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 2041-2046. 5980498 https://doi.org/10.1109/ICRA.2011.5980498
    Hashimoto, Kenji ; Yoshimura, Yuki ; Kondo, Hideki ; Lim, Hun Ok ; Takanishi, Atsuo. / Realization of quick turn of biped humanoid robot by using slipping motion with both feet. Proceedings - IEEE International Conference on Robotics and Automation. 2011. pp. 2041-2046
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