DocumentCode
3587069
Title
Shuffle traveling of humanoid robots
Author
Koeda, Masanao ; Ueno, Masayuki ; Serizawa, Takayuki
Author_Institution
Dept. of Comput. Sci., Osaka Electro-Commun. Univ., Shijonawate, Japan
fYear
2014
Firstpage
2262
Lastpage
2267
Abstract
Recently, many researchers have been studying methods for the stepless slip motion of humanoid robots. However, the control mechanism is not clear. In this paper, we propose a simple feedback control method for slip motion based on the forward and backward tilting of the body. We verified this control method by using a life-size humanoid dynamic simulator that was constructed with Open Dynamics Engine. By controlling the body tilt using a proportional controller, the robot can reach the target position with stepless motion.
Keywords
feedback; humanoid robots; legged locomotion; motion control; proportional control; robot dynamics; Open Dynamics Engine; backward tilting; biped robots; body tilt control; feedback control method; forward tilting; humanoid dynamic simulator; humanoid robots; proportional controller; shuffle traveling; stepless slip motion; Conferences; Foot; Friction; Humanoid robots; Legged locomotion; Turning;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
Type
conf
DOI
10.1109/ROBIO.2014.7090674
Filename
7090674
Link To Document