Swizzle Movement for Biped Walking Robot Having Passive Wheels
Kenji Hashimoto*1, Yusuke Sugahara*2, Hun-ok Lim*3,*5,
and Atsuo Takanishi*4,*5
*1Graduate School of Science and Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan
*2Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan
*3Department of Mechanical Engineering, Kanagawa University, 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama, Kanagawa 221-8686, Japan
*4Department of Modern Mechanical Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan
*5Humanoid Robotics Institute (HRI), Waseda University, 17-41-2-04A Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan
Biped walking is easily adapted to rough terrain such as stairs and stony paths, but speed and energy efficiency on flat surfaces is less effective than wheeled locomotion. We propose new control for swizzling by biped walking robots using inline skates. Swizzling uses friction force generated by regular passive wheel movement. Our proposal is based on the reaction force on the foot, and new reference position is changed based on reaction force not to be large internal force. Through hardware experiments, the effectiveness of the proposed method was confirmed.
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