Design and Control of a Small Humanoid Equipped With Flight Unit and Wheels for Multimodal Locomotion
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- Kazuki Sugihara
- Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan
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- Moju Zhao
- Department of Mechanical Engineering, The University of Tokyo, Bunkyo-ku, Tokyo, Japan
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- Takuzumi Nishio
- Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan
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- Tasuku Makabe
- Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan
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- Kei Okada
- Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan
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- Masayuki Inaba
- Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan
書誌事項
- 公開日
- 2023-09
- 資源種別
- journal article
- 権利情報
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- https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html
- https://doi.org/10.15223/policy-029
- https://doi.org/10.15223/policy-037
- DOI
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- 10.1109/lra.2023.3297065
- 10.48550/arxiv.2303.14718
- 公開者
- Institute of Electrical and Electronics Engineers (IEEE)
説明
Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to achieve rapid terrestrial locomotion ability and simultaneously expand the locomotion domain to the air by utilizing thrust for propulsion. In this paper, we first describe an optimized construction method for a humanoid robot equipped with wheels and a flight unit to achieve these abilities. Then, we describe the integrated control framework of the proposed flying humanoid for each locomotion mode: aerial, legged, and wheeled locomotion. Finally, we achieved multimodal locomotion and aerial manipulation experiments using the proposed robot platform. To the best of our knowledge, this is the first time that a single humanoid has simultaneously achieved three different types of locomotion, including flight.
8 pages, 17 figures. Accepted by IEEE Robotics and Automation Letters
収録刊行物
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- IEEE Robotics and Automation Letters
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IEEE Robotics and Automation Letters 8 (9), 5608-5615, 2023-09
Institute of Electrical and Electronics Engineers (IEEE)
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詳細情報 詳細情報について
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- CRID
- 1360021390561235328
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- ISSN
- 23773766
- 23773774
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- 資料種別
- journal article
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- データソース種別
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- Crossref
- KAKEN
- OpenAIRE
