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
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;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090674
