DocumentCode
2613415
Title
Study of skating robot
Author
Shibata, Takahiro ; Sato, Kazuo ; Takeshita, Toshikazu ; Iwase, Masami ; Hatakeyama, Shoshiro
Author_Institution
Dept. of Comput. & Syst. Eng., Tokyo Denki Univ., Hatoyama
fYear
2008
fDate
2-5 July 2008
Firstpage
1158
Lastpage
1163
Abstract
Walk movement of a humanoid robot is necessary on undulation surface. However, efficiency is not so good because much energy losses occur by friction at the time of reaching the ground. Therefore, think about slide movement to assume the foot is a blade. This case, it is necessary to control balance because there are few ground contact areas. In this paper, propose of the skating robot mechanism and examine optimal control to an easy model. Also, the dynamic equation of the skating robot is derived using the Projection Method.
Keywords
humanoid robots; mobile robots; optimal control; dynamic equation; humanoid robot; optimal control; skating robot; slide movement; undulation surface; walk movement; Batteries; Blades; Energy loss; Equations; Friction; Humanoid robots; Intelligent robots; Legged locomotion; Mechatronics; Orbital robotics;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on
Conference_Location
Xian
Print_ISBN
978-1-4244-2494-8
Electronic_ISBN
978-1-4244-2495-5
Type
conf
DOI
10.1109/AIM.2008.4601826
Filename
4601826
Link To Document