Side translation by simultaneous shuffle turn for humanoid robots

This paper proposes a shuffle translating method combining shuffle turn repeatedly for a humanoid robot. Conventionally, the walking motion of a humanoid robot is performed by a repetition of stepping the feet. However, the motion is inefficient and has low stability. We have been studying the method of shuffle turning for humanoid robots, which can perform a stepless and stable turning in a narrow space. In this paper, we propose two shuffle translation methods by repeating shuffle turn. Experiments using a humanoid robot were conducted and the experimental results demonstrate the feasibility of these methods.