Shuffle traveling of humanoid robots

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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.

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