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
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;
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
DOI :
10.1109/AIM.2008.4601826
