Bipedwalk control for humanoid to utilize singularity neighborhood

• Project/Area Number: 20760154
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tokyo University of Technology
• Principal Investigator: SEKIGUCHI Akinori Tokyo University of Technology, コンピュータサイエンス学部, 講師 (80344612)
• Project Period (FY): 2008 – 2009
• Project Status: Completed (Fiscal Year 2009)
• Budget Amount: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000); Fiscal Year 2009: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2008: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
• Keywords: ヒューマノイド / ロボティクス / 二足歩行

Research Abstract

A human being utilizes its singularities to achieve efficient walking motions. However, a robot cannot handle its singularities because it causes extremely large joint velocity. To tackle this problem, we studied on walking pattern generation and control method to utilize singularity neiborhood effectively. We also designed a prototype foot shape of humanoid robot for human-like walk. The robot with the prototype sole was able to walk stably, with toe-off motion and heel-contact motion.

Research Products

• [Presentation] ヒューマノイドの人間らしい歩行動作のための足底の試作 (2010)
  • Author(s): 関口暁宣
  • Organizer: ロボティクス・メカトロニクス講演会
  • Place of Presentation: 北海道旭川市(発表予定)
  • Year and Date: 2010-06-16
• [Presentation] A Prototype Foot Shape for Human-like Walk of Humanoid Robot (2010)
  • Author(s): Akinori Sekiguchi, Yuichi Tsumaki
  • Organizer: SICE Annual Conference
  • Place of Presentation: Taipei, Taiwan(発表予定)