Biped walking on a low friction floor

Author

Kajita, Shuuji ; KANEKO, Kenji ; Harada, Kensuke ; Kanehiro, Fumio ; Fujiwara, Kiyoshi ; Hirukawa, Hirohisa

Author_Institution

Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki, Japan

Volume

4

fYear

2004

fDate

28 Sept.-2 Oct. 2004

Firstpage

3546

Abstract

Biped walking on a low friction floor is analyzed in this paper. For a given walking pattern, we can calculate a necessary friction coefficient which allows the robot to perform the expected motion. To reduce the maximum necessary friction coefficient, a pattern generation based on preview control theory is explained. We also describe a calculation of slip concerned ZMP, which provides a good prediction of falling caused by slips. Finally, we test a walk of 135 [km/h] on low friction environment using a humanoid robot HRP-2. The robot could successfully walk over the slippery area whose friction coefficient is 0.14.

Keywords

friction; humanoid robots; legged locomotion; predictive control; 135 km/h; biped walking; friction coefficient; humanoid robot HRP-2; low friction floor; pattern generation; preview control theory; Control theory; Foot; Force measurement; Force sensors; Friction; Humanoid robots; Legged locomotion; Robot sensing systems; Service robots; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8463-6

Type

conf

DOI

10.1109/IROS.2004.1389965

Filename

1389965