Title :
Biped walking on a low friction floor
Author :
Kajita, Shuuji ; KANEKO, Kenji ; Harada, Kensuke ; Kanehiro, Fumio ; Fujiwara, Kiyoshi ; Hirukawa, Hirohisa
Author_Institution :
Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki, Japan
fDate :
28 Sept.-2 Oct. 2004
Abstract :
Biped walking on a low friction floor is analyzed in this paper. For a given walking pattern, we can calculate a necessary friction coefficient which allows the robot to perform the expected motion. To reduce the maximum necessary friction coefficient, a pattern generation based on preview control theory is explained. We also describe a calculation of slip concerned ZMP, which provides a good prediction of falling caused by slips. Finally, we test a walk of 135 [km/h] on low friction environment using a humanoid robot HRP-2. The robot could successfully walk over the slippery area whose friction coefficient is 0.14.
Keywords :
friction; humanoid robots; legged locomotion; predictive control; 135 km/h; biped walking; friction coefficient; humanoid robot HRP-2; low friction floor; pattern generation; preview control theory; Control theory; Foot; Force measurement; Force sensors; Friction; Humanoid robots; Legged locomotion; Robot sensing systems; Service robots; Testing;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389965
