Motion representation of walking/slipping/turnover for humanoid robot by Newton-Euler method

Tomohide Maeba, Geng Wang, Fujia Yu, Mamoru Minami, Akira Yanou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes a formulation of dynamical equation of bipedal walking model of humanoid robot with foot by Newton-Euler Method well-known in robotics field as a calculation scheme of dynamics, which can describe a dynamical effect of foot's slipping without any approximation. This formulation including kicking torque of foot inevitably and naturally generates sequential variety in dynamical walking gait pattern - derived from orders of detaching/landing sequences - which has been ignored in case of round-foot or point-foot model.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages255-260
Number of pages6
ISBN (Print)9784907764395
Publication statusPublished - Jan 1 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Publication series

NameProceedings of the SICE Annual Conference

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period9/13/119/18/11

Keywords

  • Bipedal walking
  • Geometric constraint condition
  • Newton-Euler method

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Maeba, T., Wang, G., Yu, F., Minami, M., & Yanou, A. (2011). Motion representation of walking/slipping/turnover for humanoid robot by Newton-Euler method. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 255-260). [6060614] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).