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Shuffle turning in humanoid robots through load distribution control of the soles

Published online by Cambridge University Press:  11 April 2011

Masanao Koeda ,
Toshitatsu Ito  and
Tsuneo Yoshikawa
Masanao Koeda*
Affiliation:
Department of Computer Science, Faculty of Information Science and Arts, Osaka Electro-Communication University, Kiyotaki 1130-70, Shijonawate, Osaka 575-0063, Japan
Toshitatsu Ito
Affiliation:
Department of Human and Computer Intelligence, College of Information Science and Engineering, Ritsumeikan University, Noji-Higashi 1-1-1, Kusatsu, Shiga 525-8577, Japan
Tsuneo Yoshikawa
Affiliation:
Department of Human and Computer Intelligence, College of Information Science and Engineering, Ritsumeikan University, Noji-Higashi 1-1-1, Kusatsu, Shiga 525-8577, Japan
*
*Corresponding author. E-mail: koeda@isc.osakac.ac.jp
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Summary

This paper proposes a novel shuffle turning method for a humanoid robot that controls the load distribution of the soles of the robot's feet. Turning motions of a humanoid robot are conventionally performed through a repeated foot stepping motion. However, this motion is inefficient and time-consuming. In our method, the feet are slid along the floor without a stepping movement. In order to reduce the friction with the floor and to achieve the correct shuffle turning motion, a non-uniform load distribution of the soles is controlled. Experiments using a humanoid robot were conducted on two floors with differing friction amounts, and the validity of the proposed method was verified.

Keywords

Humanoid robotShuffle turnSlipLoad distributionSole
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 1017 - 1024
Copyright
Copyright © Cambridge University Press 2011

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