Bipedwalk control for humanoid to utilize singularity neighborhood

Research Project

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 *help	¥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.