Title :
Quick slip-turn of HRP-4C on its toes
Author :
Miura, Kanako ; Kanehiro, Fumio ; KANEKO, Kenji ; Kajita, Shuuji ; YOKOI, Kazuhito
Author_Institution :
Humanoid Res. Group, Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan
Abstract :
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.
Keywords :
friction; humanoid robots; motion control; position control; slip; torque; HRP-4C quick slip-turn; floor friction; foot center trajectory; frictional torque; humanoid robot; motor load; quick turning motion; robot toe; rotation model; rotational angle; Foot; Friction; Humanoid robots; Legged locomotion; Trajectory; Turning;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224859
