In many studies, biped robots are controlled on the assumption that friction between the floor and the feet of the biped robot is large enough. This assumption is necessary for biped robot, because slipping of biped robot never happens on such floor. But in real environment, it is not necessarily true that all floors on which biped robot walks have enough friction. For the practical use of biped robot, it is required to walk firmly on the any kinds of floor. The purpose of this paper is to realize walking not to slip on unknown slippery floor. In this paper, an approach to detect slipping on slippery floor and a method for continuous walking on slippery floor are proposed. Computer simulations of a biped robot 6 degrees of freedom are performed. The simulational results show that the effectivity of the proposed method is superior to walking on unknown slippery floor.
|出版ステータス||Published - 2001 12月 1|
|イベント||27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States|
継続期間: 2001 11月 29 → 2001 12月 2
|Other||27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001|
|Period||01/11/29 → 01/12/2|
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