Hostname: page-component-cd9895bd7-gvvz8 Total loading time: 0 Render date: 2024-12-25T05:34:39.310Z Has data issue: false hasContentIssue false
  • English
  • Français

Shuffle turning in humanoid robots through load distribution control of the soles

Published online by Cambridge University Press:  11 April 2011

Masanao Koeda ,
Toshitatsu Ito  and
Tsuneo Yoshikawa
Masanao Koeda*
Affiliation:
Department of Computer Science, Faculty of Information Science and Arts, Osaka Electro-Communication University, Kiyotaki 1130-70, Shijonawate, Osaka 575-0063, Japan
Toshitatsu Ito
Affiliation:
Department of Human and Computer Intelligence, College of Information Science and Engineering, Ritsumeikan University, Noji-Higashi 1-1-1, Kusatsu, Shiga 525-8577, Japan
Tsuneo Yoshikawa
Affiliation:
Department of Human and Computer Intelligence, College of Information Science and Engineering, Ritsumeikan University, Noji-Higashi 1-1-1, Kusatsu, Shiga 525-8577, Japan
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper proposes a novel shuffle turning method for a humanoid robot that controls the load distribution of the soles of the robot's feet. Turning motions of a humanoid robot are conventionally performed through a repeated foot stepping motion. However, this motion is inefficient and time-consuming. In our method, the feet are slid along the floor without a stepping movement. In order to reduce the friction with the floor and to achieve the correct shuffle turning motion, a non-uniform load distribution of the soles is controlled. Experiments using a humanoid robot were conducted on two floors with differing friction amounts, and the validity of the proposed method was verified.

Keywords

Humanoid robotShuffle turnSlipLoad distributionSole
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 1017 - 1024
Copyright
Copyright © Cambridge University Press 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Harada, K., Hattori, S., Hirakata, H., Morisawa, M., Kajita, S. and Yoshida, E., “Motion Planning for Walking Pattern Generation of Humanoid Robots,” Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (2007) pp. 4227–4233.Google Scholar
2.Ogura, Y., Kataoka, T., Aikawa, H., Shimomura, K., Lim, H. and Takanishi, A., “Evaluation of Various Walking Patterns of Biped Humanoid Robot,” Proceedings of the 2005 IEEE International Conference on Robotics and Automation (2005) pp. 605–610.Google Scholar
3.Nishiwaki, K., Kagami, S., Kuniyoshi, Y., Inaba, M. and Inoue, H., “Online Generation of Humanoid Walking Motion based on a Fast Generation Method of Motion Pattern that Follows Desired ZMP,” Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (2002) pp. 2684–2689.Google Scholar
4.Silva, F. M. and Machado, J. T., “Goal-Oriented Biped Walking Based on Force Interaction Control,” Proceedings of IEEE International Conference on Robotics and Automation (2001) pp. 4122–4127.Google Scholar
5.Nishikawa, M., Japanese patent application no. 2005-238407 (2005).Google Scholar
6.Koeda, M., Yoshikawa, T. and Ito, T., “Stability Improvement by Slip-Based Turning Motion of Humanoid Robot,” CD-Rom Preprints of the 25th Annual Conference of the Robotics Society of Japan, 3H15 (2007) (in Japanese).Google Scholar
7.Miura, K., Nakaoka, S., Morisawa, M., Harada, K. and Kajita, S., “A Friction-Based ‘Twirl’ for Biped Robots,” Proceedings of 8th IEEE-RAS International Conference on Humanoid Robots (2008) pp. 279–284.Google Scholar
8.Miura, K., Nakaoka, S., Morisawa, M., Kanehiro, F., Harada, K. and Kajita, S., “Analysis on a Friction Based ‘Twirl’ for Biped Robots,” Proceedings of 2010 IEEE International Conference on Robotics and Automation (2010) pp. 4249–4255.Google Scholar
9.Hashimoto, K., Yoshimura, Y., Kondo, H., Lim, H. and Takanishi, A., “Research on Biped Humanoid Robot as a Human Motion Simulator – 11th Report: Realization of Quick Turn by Using Slipping Motion with Both Feet,” Proceedings of the 2010 JSME Conference on Robotics and Mechatronics, 2A20D23 (2010) (in Japanese).Google Scholar
10.Park, J. H. and Kwon, O., “Reflex Control of Biped Robot Locomotion on a Slippery Surface,” Proceedings of IEEE International Conference on Robotics and Automation (2001) pp. 4134–4139.Google Scholar
11.Kaneko, K., Kanehiro, F., Morisawa, M., Fujiwara, K., Harada, K. and Hirukawa, H., “Slip Observer for Walking on a Low Friction Floor,” Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (2005) pp. 1457–1463.Google Scholar
12.Kajita, S., Kaneko, K., Harada, K., Kanehiro, F., Fujiwara, K. and Hirukawa, H., “Biped Walking On a Low Friction Floor,” Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (2004) pp. 3546–3552.Google Scholar
13.Takemura, H., Deguchi, M., Ueda, J., Matsumoto, Y. and Ogasawara, T., “Slip-adaptive walk of quadruped robot,” J. Robot. Autom. Syst. 53 (2), 124–141 (2005).CrossRefGoogle Scholar