Shuffle traveling of humanoid robots
説明
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.
収録刊行物
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- 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)
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2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014) 2262-2267, 2014-12-01
IEEE