2A2-D23 人体運動シミュレータとしての2足ヒューマノイドロボットの開発 : 第11報:両足の滑りを利用した高速な旋回運動の実現

• 橋本 健二

  早大

• 吉村 勇希

  早大

• 近藤 秀樹

  早大

• 林 憲玉

  神奈川大:早大HRI

• 高西 淳夫

  早大:早大HRI

書誌事項

タイトル別名

• 2A2-D23 Research on Biped Humanoid Robot as a Human Motion Simulator : 11th Report: Realization of Quick Turn by Using Slipping Motion with Both Feet

抄録

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 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 WABIAN-2R. WABIAN-2R realized a quick turn by using slipping motion with both feet. We also confirmed the energy consumption of a slipping turn is less than that of a stepping turn.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2010 (0), _2A2-D23_1-_2A2-D23_4, 2010

  一般社団法人 日本機械学会

キーワード

• Humanoid Robot
• Slip
• Turning Motion

詳細情報

• CRID: 1390282680911473664
• NII論文ID: 110008741957
• DOI: 10.1299/jsmermd.2010._2a2-d23_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2010/0/2010__2A2-D23_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可