Slip Movement with Supine Posture for Humanoid Robots

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K00369
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent robotics
• Research Institution: Osaka Electro-Communication University
• Principal Investigator: Koeda Masanao 大阪電気通信大学, 総合情報学部, 准教授 (10411232)
• Co-Investigator(Renkei-kenkyūsha): UEDA Etsuko 大阪工業大学, ロボティクス&デザイン工学部, 教授 (90379529)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: ヒューマノイドロボット / 滑り / 摺足 / 摺胴

Outline of Final Research Achievements

During rescue operations within devastated areas, rescue robots are required to access narrow areas with constrained posture to reach victims. Dealing with this problem, we have focused on the shuffling feet and shuffling body motion of humanoid robots. Regarding the shuffling feet motion, we especially targeted at the synchronous non-parallel feet shuffling feet motion because it is relatively stable, symmetric and simple comparing the other feet motions. We realized the direction control by changing the center of gravity point caused by the forward and backward inclination of the robot's body. The robustness was improved by the ZMP based contoller. We also showed that the sole pressure distribution pattern is limited to 4 and a specific pattern is suitable for smooth shuffle movement. Regarding the shuffling body motion, we proposed one example of shuffling body movement in the supine position and showed the contact angle between the back and the floor affect the moving distance.

Free Research Field

ヒューマノイドロボット