Title :
Two-dimensional analysis of dynamic biped locomotion based on feet slip
Author :
Senoo, Taku ; Ishikawa, Masatoshi
Author_Institution :
Dept. of Creative Inf., Univ. of Tokyo, Tokyo, Japan
Abstract :
In this paper, two-dimensional analysis of biped sliding dynamics is considered with the goal of achieving high-speed dynamic locomotion. First, the dynamics of a biped robot based on feet slip are derived and the state transition is discussed. Next, horizontal gait and a somersault are used to verify the analysis as examples of dynamic locomotion based on feet slip. The results show a 2-DOF biped robot taking short rapid repetitive steps using frictional asymmetry and theoretically can make one revolution in the air using torque asymmetry.
Keywords :
legged locomotion; robot dynamics; sliding friction; torque; 2-DOF biped robot dynamics; biped locomotion dynamics; biped sliding dynamics; feet slip; frictional asymmetry; horizontal gait; somersault; torque asymmetry; two-dimensional analysis; Acceleration; Force; Friction; Legged locomotion; Robot kinematics; Torque;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on
Conference_Location :
Wollongong, NSW
Print_ISBN :
978-1-4673-5319-9
DOI :
10.1109/AIM.2013.6584143
