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In this paper, a method for a biped to quickly change its running direction is proposed. To change the running direction of the biped robot, a rotation of the body is needed. When the robot rotates its body during a support phase, however, there may be a few limitations such as the workspace of hardware and the time. To overcome these limitations, the running direction of the biped robot is changed...
For a biped robot to have the capability to change the direction of locomotion fast without tripping itself is important in enhancing its mobility. This paper proposes a new method to realize a quick and natural turn, or to make an abrupt change in the walking direction of a biped robot by taking advantage of a foot slip, which is created intentionally between the sole of the foot and the ground....
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