Shuffle Parallel Translation and Pivot Turn of Humanoid Robot in Dynamics Simulator

Conventionally, the walking motion of a humanoid robot is performed by a repetition of stepping the feet. Stepping motion is suited for long range movement, but inefficient and low stability. Recently, many researchers have been studying a method that involves the step less slip motion of humanoid robots. The motion is suited for short range, efficient and stable movement. We also have been studying the method of shuffle turning for humanoid robots. In this paper, we report shuffle translation motion and control method by repeating shuffle motion. Experiments using a life-size humanoid dynamic simulator were conducted. By controlling torque and angle of appropriate joints using a proportional controller, we confirmed that travel distance and direction of the robot can be changed.