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 proceedingConference contribution

1 Citation (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 languageEnglish
Title of host publicationSII 2016 - 2016 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages69-74
Number of pages6
ISBN (Electronic)9781509033294
DOIs
Publication statusPublished - Feb 6 2017
Event2016 IEEE/SICE International Symposium on System Integration, SII 2016 - Sapporo, Japan
Duration: Dec 13 2016Dec 15 2016

Other

Other2016 IEEE/SICE International Symposium on System Integration, SII 2016
CountryJapan
CitySapporo
Period12/13/1612/15/16

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ASJC Scopus subject areas

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

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