Hostname: page-component-cd9895bd7-dzt6s Total loading time: 0 Render date: 2024-12-18T23:53:15.016Z Has data issue: false hasContentIssue false
  • English
  • Français

Analysis of sliding behavior of a biped robot in centroid acceleration space

Published online by Cambridge University Press:  04 September 2015

Taku Senoo  and
Masatoshi Ishikawa
Taku Senoo*
Affiliation:
Department of Information Physics and Computing, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Masatoshi Ishikawa
Affiliation:
Department of Information Physics and Computing, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
*
*Corresponding author. E-mail: [email protected]
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the ‘Save PDF’ action button.

In this article, a two-dimensional analysis of biped robot sliding dynamics is performed. First, the dynamics of a biped robot based on feet-slip are derived using the coulomb friction model. The state transition can be formulated in the centroid acceleration space whose diagram is defined as a “triangle of sliding friction” (TSF). The TSF's characteristics are explained by focusing on comparison with the cone of friction which has a similar state decision diagram. Next, for the behavioral simulation of a concrete model, a 2-DOF biped robot is used to analyze the sliding features in terms of the asymmetry of the dynamics of each leg. Finally, the sliding characteristics are applied to the two tasks of running and somersaulting. The results show the robot takes short rapid repetitive steps for running based on frictional asymmetry and theoretically based on torque asymmetry can make one revolution using the large angular momentum acquired during sliding motion.

Keywords

Biped robotSlidingState transitionRunningSomersault
Type
Articles
Information
Robotica , Volume 35 , Issue 3 , March 2017 , pp. 636 - 653
Creative Commons
Creative Common License - CCCreative Common License - BYCreative Common License - NCCreative Common License - SA
This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted re-use, distribution, and reproduction in any medium, provided the original work is properly cited.
Copyright
Copyright © Cambridge University Press 2015

References

1. Shibata, T., Sato, K., Takeshita, T., Iwase, M. and Hatakeyama, S., “Study of Skating Robot,” Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2008) pp. 1158–1163.Google Scholar
2. Ziv, N., Lee, Y. and Ciaravella, G., “Inline Skating Motion Generator with Passive Wheels for Small Size Humanoid Robots,” Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2010) pp. 1391–1395.Google Scholar
3. Nemec, B. and Lahajnar, L., “Control and Navigation of the Skiing Robot,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (2009) pp. 2321–2326.Google Scholar
4. Lahajnar, L., Kos, A. and Nemec, B., “Skiing robot - design, control, and navigation in unstructured environment,” Robotica 27 (4), 567–577 (2009).CrossRefGoogle Scholar
5. Petric, T., Gams, A., Babic, J. and Zlajpah, L., “Reflexive stability control framework for humanoid robots,” Auton. Robots 34 (4), 347–361 (2013).Google Scholar
6. Miura, K., Kanehiro, F., Harada, K., Kajita, S. and Yokoi, K., “Slip-turn for biped robots,” IEEE Trans. Robot. 29 (4), 875–887 (2013).CrossRefGoogle Scholar
7. Hashimoto, K., Yoshimura, Y., Kondo, H., Lim, H. and Takanishi, A., “Realization of Quick Turn of Biped Humanoid Robot by Using Slipping Motion with Both Feet,” Proceedings of the IEEE International Conference on Robotics and Automation (2011) pp. 2041–2046.Google Scholar
8. Koeda, M., Uda, Y., Sugiyama, S. and Yoshikawa, T., “Shuffle Turn and Translation of Humanoid Robots,” Proceedings of the IEEE International Conference on Robotics and Automation (2011) pp. 593–598.Google Scholar
9. Yeon, J. S. and Park, J. H., “A fast turning method for biped robots with foot slip during single-support phase,” IEEE/ASME Trans. Mechatronics 19 (6), 1847–1858 (2014).Google Scholar
10. Kaneko, K., Kanehiro, F., Kajita, S., Morisawa, M., Fujiwara, K., Harada, K. and Hirukawa, H., “Slip Observer for Walking on a Low Friction Floor,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (2005) pp. 634–640.Google Scholar
11. Higashimori, M., Harada, M., Yuya, M., Ishii, I. and Kaneko, M., “Dimensional Analysis Based Design on Tracing Type Legged Robots,” Proceedings of the IEEE International Conference on Robotics and Automation (2005) pp. 181–187.Google Scholar
12. Mori, M. and Hirose, S., “Locomotion of 3D Snake-like robots – shifting and rolling control of active cord mechanism ACM-R3–,” J. Robot. Mechatronics 18 (5), 521–528 (2006).Google Scholar
13. Transeth, A. A., Leine, R. I., Glocker, C. and Pettersen, K. Y., “3-D snake robot motion: Nonsmooth modeling, simulations, and experiments,” IEEE Trans. Robot. 24 (2), 361–376 (2008).Google Scholar
14. Gamus, B. and Or, Y., “Analysis of Dynamic Bipedal Robot Walking with Stick-Slip Transitions,” Proceedings of the IEEE International Conference on Robotics and Automation (2013) pp. 3348–3355.Google Scholar
15. Tavakoli, A. and Hurmuzlu, Y., “Robotic locomotion of three generations of a family tree of dynamical systems – Part I: Passive gait patterns–,” Nonlinear Dyn. 73 (3), 1969–1989 (2013).Google Scholar
16. Senoo, T. and Ishikawa, M., “Two-Dimensional Analysis of Dynamic Biped Locomotion Based on Feet Slip,” Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2013) pp. 512–517.Google Scholar
17. Ingen Schenau, G. J. and Bakker, K., “A biomechanical model of speed skating,” J. Human Mov. Stud. 6, 1–18 (1980).Google Scholar
18. Hache, A., The Physics of Hockey (2715 North Charles Street, Baltimore, Maryland 21218-4363, Johns Hopkins University Press, 2003) pp. 41–48.Google Scholar
19. Senoo, T., Takano, M. and Ishikawa, M., “Dynamic Horizontal Movement of a Bipedal Robot Using Frictional Asymmetry,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (2012) pp. 1834–1839.Google Scholar
20. Ishikawa Watanabe Laboratory, “Slip running using frictional asymmetry,” Accessed on 24 April 2015, http://www.k2.t.u-tokyo.ac.jp/fusion/AsymmetricFriction/ Google Scholar
21. Ishikawa Watanabe Laboratory, “Sliding somersault using torque asymmetry,” Accessed on 24 April 2015, http://www.k2.t.u-tokyo.ac.jp/fusion/SlidingSomersault/ Google Scholar