柔軟半球足を持つ二足歩行ロボットのバランス制御と歩容生成

Translated title of the contribution: Balance Control and Gait Generation for a Bipedal Robot with Soft Hemispheric Feet

丸林 央樹, 門崎 正滉, 田原 健二

Research output: Contribution to journalArticle

Abstract

<p>In this paper, a new type bipedal robot which has soft hemispheric feet is proposed. It is able to realize an efficient bipedal locomotion by utilizing a rolling motion of hemispheric feet effectively. Furthermore, each hemispheric foot has an active torsional joint. Thus it is able to move as a wheeled vehicle using an infinite rolling motion by the torsional joint. It, however, is difficult to keep its balance more proper than a humanoid robot having normal flat feet. Therefore, firstly a balance control and gait generation method which consider the rolling effect of feet are proposed. After that, several numerical simulations are conducted to demonstrate the effectiveness of the proposed balance control and gait generation method.</p>
Translated title of the contributionBalance Control and Gait Generation for a Bipedal Robot with Soft Hemispheric Feet
Original languageJapanese
Pages (from-to)G1500404
Journal年次大会
Volume2016
Issue number0
DOIs
Publication statusPublished - 2016

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