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Many wearable robots are not fully capable of fitting the motion of the wearer, owing to their limited degrees-of-freedom (DOF). This limitation disturbs motions such as corner curving, which are required in daily life. In this study, the effect of the DOF restriction on the corner curving motion was observed and analyzed. The gait motions, when curving a round corner with and without the restriction...
Gait planning is an important part of robotics research, and turning gait is an important and useful walking gait of a hexapod robot. But researches on turning gait of hexapod robots are limited. This paper presents the structure of a hydraulic hexapod walking robot. The coordinate of the leg is defined, and the positive and inverse kinematic equation of the leg is established. Foot trajectory based...
This paper presents new methods to control humanoid turns while running, through the use of a 3D-SLIP template model with steering control. The work builds on a previous controller for straight-ahead running and describes the new methods that enable online humanoid steering for different speeds and turn rates. As opposed to previous research which has studied 3D-SLIP steering with a monopod model,...
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....
In this paper, we compare three different trotting techniques and five different turning strategies on a small, compliant, biologically inspired quadrupedal robot, the Oncilla. The locomotion techniques were optimized on the actual hardware using a treadmill setup, without relying on models. We found that using half ellipses as foot trajectories resulted in the fastest gaits, as well as the highest...
We present the realization of quick turning motion of a humanoid robot on its toes via slipping between its feet and the floor. A rotation model is described on the basis of our hypothesis that turning via slip occurs as a result of minimizing the power caused by floor friction. Using the model, the trajectory of the center of the foot can be generated to realize the desired rotational angle. Toe...
This paper presents preliminary results on generating walking and turning motion of a humanoid robot based on human motion data obtained by using motion capturing system. The target humanoid robot is recently released HRP-4C, which looks like a Japanese woman with realistic geometry. One of the main uses of this robot is to be entertainment. Therefore it is important that the robot's motions are easily...
This paper presents design, control and implementation of the humanoid robot platform Robo-Erectus Senior (RESr-1). It is a full-size humanoid robot using self-contained modular component to perform cooperative works in general humanoid environment and robotic soccer (RoboCup) in particular. Mechatronic drives has cubic or double design with multiple connecting sockets in different orientations. Thereby,...
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