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This paper describes the identification of HRP-2 foot's dynamics. It is expected that a humanoid robot will work in the same environment as man. For that purpose, safety of operation is important. Although a simulator is used for confirming safe conditions of operation, an error may arise in a dynamic parameter by the robot of a simulator, and an actual robot. In this paper, it identified about the...
This paper discusses a way of simulating of foot-ground contact for bipedal robots. For walking robots the most fundamental issue is maintaining contact between the foot and the ground. During simulation, the most common approach is to assume rigid contact between the foot and the ground. However this kind of contact cannot model sliding, foot rotation and deformation. That can create inaccurate results...
We present a robot capable of both (1) dynamically perching onto smooth, flat surfaces from a ballistic trajectory and (2) successfully transitioning to a climbing gait. Merging these two modes of movement is achieved via a mechanism utilizing an opposed grip with directional adhesives. Critical design considerations include (a) climbing mechanism weight constraints, (b) suitable body geometry for...
The aim of this paper is to develop an algorithm that enables a humanoid robot to perform an impulsive pedipulation of a spherical object by using its foot, so that the object reaches a desired 3D goal position, taking into account some constraints imposed at the moment of the impact. This is done by planning a suitable motion of the humanoid robot that exerts the required impact conditions on this...
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