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 publicationProceedings of the SICE Annual Conference
Pages255-260
Number of pages6
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Other

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

Fingerprint

Robots
Landing
Robotics
Torque

Keywords

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

ASJC Scopus subject areas

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

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 Proceedings of the SICE Annual Conference (pp. 255-260). [6060614]

Motion representation of walking/slipping/turnover for humanoid robot by Newton-Euler method. / Maeba, Tomohide; Wang, Geng; Yu, Fujia; Minami, Mamoru; Yanou, Akira.

Proceedings of the SICE Annual Conference. 2011. p. 255-260 6060614.

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

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 Proceedings of the SICE Annual Conference., 6060614, pp. 255-260, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 9/13/11.
Maeba T, Wang G, Yu F, Minami M, Yanou A. Motion representation of walking/slipping/turnover for humanoid robot by Newton-Euler method. In Proceedings of the SICE Annual Conference. 2011. p. 255-260. 6060614
Maeba, Tomohide ; Wang, Geng ; Yu, Fujia ; Minami, Mamoru ; Yanou, Akira. / Motion representation of walking/slipping/turnover for humanoid robot by Newton-Euler method. Proceedings of the SICE Annual Conference. 2011. pp. 255-260
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