Realization of quick turn of biped humanoid robot by using slipping motion with both feet

Kenji Hashimoto; Yuki Yoshimura; Hideki Kondo; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/ICRA.2011.5980498

Realization of quick turn of biped humanoid robot by using slipping motion with both feet

Kenji Hashimoto^*, Yuki Yoshimura, Hideki Kondo, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

26 Citations (Scopus)

Abstract

This paper describes a fast turning method for a humanoid robot by using slipping motion with both feet. The humanoid robot, WABIAN-2R, has achieved human-like walking with heel contact and toe off motions by using a human-like foot mechanism with a passive toe joint. The human-like foot enables a robot to turn by using slipping motion between the feet and the ground because it can switch ground contact conditions such as heel contact, sole contact and toe contact. To realize a slipping turn, we develop an attitude control. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a quick turn by using slipping motion with both feet. We also confirmed that the energy consumption of a slipping turn is less than that of a stepping turn.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	2041-2046
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2011.5980498
Publication status	Published - 2011 Dec 1
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: 2011 May 9 → 2011 May 13

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	11/5/9 → 11/5/13

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/ICRA.2011.5980498

Cite this

Hashimoto, K., Yoshimura, Y., Kondo, H., Lim, H. O., & Takanishi, A. (2011). Realization of quick turn of biped humanoid robot by using slipping motion with both feet. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 2041-2046). [5980498] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5980498

Realization of quick turn of biped humanoid robot by using slipping motion with both feet. / Hashimoto, Kenji; Yoshimura, Yuki; Kondo, Hideki et al.
2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 2041-2046 5980498 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hashimoto, K, Yoshimura, Y, Kondo, H, Lim, HO & Takanishi, A 2011, Realization of quick turn of biped humanoid robot by using slipping motion with both feet. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5980498, Proceedings - IEEE International Conference on Robotics and Automation, pp. 2041-2046, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 11/5/9. https://doi.org/10.1109/ICRA.2011.5980498

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Realization of quick turn of biped humanoid robot by using slipping motion with both feet

Abstract

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Conference

ASJC Scopus subject areas

UN SDGs

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