Quick Slip-Turn of HRP-4C on Its Toes

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#Kanako Miura #Fumio Kanehiro #Kenji Kaneko #Shuuji Kajita #Kazuhito Yokoi #quick turning motion #HRP4C humanoid robot #foot trajectory #toe joints #frictional torque

This videos shows the quick turning motion of HRP-4C humanoid robot using slip between its feet and the ground. The foot trajectory was generated under the hypothesis that turning via slip occurs as a result of minimizing the power caused by floor friction. To realize quicker motion, the toe joints of the robot were used to reduce the frictional torque.

May 14, 2012