Dynamical model of humanoid considering slipping with nonlinear floor friction and internal force during free-fall motion

Xiang Li; Daiji Izawa; Mamoru Minami; Takayuki Matsuno; Akira Yanou

doi:10.1109/SII.2016.7843977

Dynamical model of humanoid considering slipping with nonlinear floor friction and internal force during free-fall motion

Xiang Li, Daiji Izawa, Mamoru Minami, Takayuki Matsuno, Akira Yanou

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

Biped locomotion created by controlling methods based on Zero-Moment Point (ZMP) has been realized in real world and been well verified its efficacy for stable walking. However the walking strategies that have been proposed so far seem to avoid such considerations as slipping of foot on the floor, even though there should exist the slipping large or small in real world. In this research, a dynamical model of humanoid robot including slipping of foot is proposed, which is derived by the Newton-Euler (NE) method. To confirm the veracity of the derived dynamic model, the model has been verified from the view point that when all friction coefficients are identical to zero, the total kinetic energy should be conserved to be unchanged, and when the coefficients are not zero, the total kinetic energy should decrease monotonously.

Original language	English
Title of host publication	SII 2016 - 2016 IEEE/SICE International Symposium on System Integration
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	69-74
Number of pages	6
ISBN (Electronic)	9781509033294
DOIs	https://doi.org/10.1109/SII.2016.7843977
Publication status	Published - Feb 6 2017
Event	2016 IEEE/SICE International Symposium on System Integration, SII 2016 - Sapporo, Japan Duration: Dec 13 2016 → Dec 15 2016

Other

Other	2016 IEEE/SICE International Symposium on System Integration, SII 2016
Country/Territory	Japan
City	Sapporo
Period	12/13/16 → 12/15/16

ASJC Scopus subject areas

Biomedical Engineering
Control and Systems Engineering
Mechanical Engineering
Artificial Intelligence
Hardware and Architecture
Control and Optimization

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10.1109/SII.2016.7843977

Cite this

Li, X., Izawa, D., Minami, M., Matsuno, T., & Yanou, A. (2017). Dynamical model of humanoid considering slipping with nonlinear floor friction and internal force during free-fall motion. In SII 2016 - 2016 IEEE/SICE International Symposium on System Integration (pp. 69-74). [7843977] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2016.7843977

Dynamical model of humanoid considering slipping with nonlinear floor friction and internal force during free-fall motion. / Li, Xiang; Izawa, Daiji; Minami, Mamoru et al.

SII 2016 - 2016 IEEE/SICE International Symposium on System Integration. Institute of Electrical and Electronics Engineers Inc., 2017. p. 69-74 7843977.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Li, X, Izawa, D, Minami, M, Matsuno, T & Yanou, A 2017, Dynamical model of humanoid considering slipping with nonlinear floor friction and internal force during free-fall motion. in SII 2016 - 2016 IEEE/SICE International Symposium on System Integration., 7843977, Institute of Electrical and Electronics Engineers Inc., pp. 69-74, 2016 IEEE/SICE International Symposium on System Integration, SII 2016, Sapporo, Japan, 12/13/16. https://doi.org/10.1109/SII.2016.7843977

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abstract = "Biped locomotion created by controlling methods based on Zero-Moment Point (ZMP) has been realized in real world and been well verified its efficacy for stable walking. However the walking strategies that have been proposed so far seem to avoid such considerations as slipping of foot on the floor, even though there should exist the slipping large or small in real world. In this research, a dynamical model of humanoid robot including slipping of foot is proposed, which is derived by the Newton-Euler (NE) method. To confirm the veracity of the derived dynamic model, the model has been verified from the view point that when all friction coefficients are identical to zero, the total kinetic energy should be conserved to be unchanged, and when the coefficients are not zero, the total kinetic energy should decrease monotonously.",

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Dynamical model of humanoid considering slipping with nonlinear floor friction and internal force during free-fall motion

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