JACIII Vol.20 No.6 pp. 974-982
doi: 10.20965/jaciii.2016.p0974


Dynamical Model of Walking Transition Considering Nonlinear Friction with Floor

Xiang Li, Hiroki Imanishi, Mamoru Minami, Takayuki Matsuno, and Akira Yanou

Graduate School of Nature Science and Technology, Okayama University
3-1-1 Tsushima-naka, Kita-ku, Okayama, Okayama 700-8530, Japan

February 29, 2016
August 17, 2016
Online released:
November 20, 2016
November 20, 2016
humanoid, slipping, friction, bipedal, dynamical

Biped locomotion created by a controller based on Zero-Moment Point (ZMP) known as reliable control method looks different from human’s walking on the view point that ZMP-based walking does not include falling state, and it’s like monkey walking because of knee-bended walking profiles. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this research, a walking model of humanoid robot including slipping, bumping, surface-contacting and line-contacting of foot is discussed, and its dynamical equation is derived by the Extended NE method. In this paper we introduce the humanoid model which including the slipping foot and verify the model.

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Last updated on Mar. 28, 2017