DocumentCode
2411355
Title
Quick slip-turn of HRP-4C on its toes
Author
Miura, Kanako ; Kanehiro, Fumio ; KANEKO, Kenji ; Kajita, Shuuji ; YOKOI, Kazuhito
Author_Institution
Humanoid Res. Group, Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan
fYear
2012
fDate
14-18 May 2012
Firstpage
3527
Lastpage
3528
Abstract
We present the realization of quick turning motion of a humanoid robot on its toes via slipping between its feet and the floor. A rotation model is described on the basis of our hypothesis that turning via slip occurs as a result of minimizing the power caused by floor friction. Using the model, the trajectory of the center of the foot can be generated to realize the desired rotational angle. Toe joints are used to realize quicker turning motion, while avoiding excessive motor load due to frictional torque. Quick slip-turn motion with toe support is successfully demonstrated using a humanoid robot HRP-4C.
Keywords
friction; humanoid robots; motion control; position control; slip; torque; HRP-4C quick slip-turn; floor friction; foot center trajectory; frictional torque; humanoid robot; motor load; quick turning motion; robot toe; rotation model; rotational angle; Foot; Friction; Humanoid robots; Legged locomotion; Trajectory; Turning;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location
Saint Paul, MN
ISSN
1050-4729
Print_ISBN
978-1-4673-1403-9
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ICRA.2012.6224859
Filename
6224859
Link To Document