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New gait planning using a nonholonomic model with difference equation constraints is proposed for biped robot walking. A model of a pivoting telescopic segment is used as the kinematic foothold selection model of a bipedal robot. The repetitive and discontinuous constraints of pivoting, expanding, and contracting make up the set of walking trajectory data. The k-step reachable region is defined as...
Rotation is one of efficient transportation method for big or heavy object. For implementing the rolling operation to the small and light weight robot, the friction control is necessary considering its movable range, balance and actuator power. In this paper, we propose a new rolling manipulation by using whole body motion for multi-legged robot. The weight shift control is implemented considering...
New dynamic rolling-walk motion for multi-legged robot with Sensory Compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass control inspired by bipedal robots. By using the Preview Control of Zero Moment Point with cart-table model based on the bipedal robot technique, the robot's center of mass trajectory is planned for the dynamic motion...
In this paper, we present a system of patient robot developed with the aim at improving abilities of nursing student's medical treatment, such as injection to vein. We propose to realize variable emotion of patient robot by using chaos orbit of non-linear time-differentiation equation. To evaluate the effectiveness of the robot through actual injection training, we measure heartbeat rate of nurse...
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