Development of Waterproof Suit for Life-sized Humanoid and Walking Control in Water using Online Buoyancy Estimation and Footstep Modification

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  • Kojio Yuta
    The University of Tokyo, Graduate School of Information Science and Technology
  • Nozawa Shunichi
    The University of Tokyo, Graduate School of Information Science and Technology
  • Sugai Fumihito
    The University of Tokyo, Graduate School of Information Science and Technology
  • Kakiuchi Yohei
    The University of Tokyo, Graduate School of Information Science and Technology
  • Okada Kei
    The University of Tokyo, Graduate School of Information Science and Technology
  • Inaba Masayuki
    The University of Tokyo, Graduate School of Information Science and Technology

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Other Title
  • 等身大ヒューマノイド用防水スーツの開発とオンライン浮力推定および着地位置修正による水中歩行制御
  • トウシンダイ ヒューマノイドヨウ ボウスイ スーツ ノ カイハツ ト オンライン フリョク スイテイ オヨビ チャクチ イチ シュウセイ ニ ヨル スイチュウ ホコウ セイギョ

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Abstract

<p>In this paper, we develop a waterproof suit for life-sized humanoid robots and propose a walking control method considering reaction forces from water for extending the region where the robots can move. The robots that wear a removable waterproof suit are easier to maintain and more versatile than the robots whose each component is manufactured to be waterproof. Unlike on land, humanoid robots are influenced mainly by the two forces due to water: buoyancy and drag. We estimate buoyancy online using force sensors at the ankles and consider the estimated buoyancy when generating a walking motion. The robot modifies footsteps in order to deal with large disturbances including drag force. We verify the effectiveness of the proposed methods through an experiment in which a life-sized humanoid robot walks down and up stairs, and walks fast in water. </p>

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