Abstract

An attempt to increase the running speed of a biped robot often results in a loss of balance due to slip and spin generated just before lifting or after landing its foot. In order to solve this issue, we developed the gait generation technology that assures dynamic stability while suppressing slip and spin by defining the allowable range of friction force between a sole and a floor. The range of the friction force changes according to the vertical ground reaction force, and is used to adjust the horizontal acceleration, bend, and twist of the robot’s torso. By adjusting the range of the friction force, a uniform approach can be taken to generate various gaits such as walking on a floor with low friction coefficient, or slow jogging. Slow jogging is an intermediate motion between walking and running in which the vertical ground reaction force does not quite reach zero. The gait generation technology realizes a running speed of 10 km/h in an experimental robot of the same size as ASIMO.

References

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Author (organization or company)

• Toru TAKENAKA（Fundamental Technology Research Center）
• Takashi MATSUMOTO（Fundamental Technology Research Center）
• Takahide YOSHIIKE（Fundamental Technology Research Center）
• Shinya SHIROKURA（Fundamental Technology Research Center）

Publication Information

Article of Honda R&D Technical Review Vol.20 No.2 (101 - 107)

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Citation Information