2P1-B20 Transition Motion including the Error Adjustment for Real Environment with Touch Detection : Transition Motion from Biped Standing to Climbing Motion

概要

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In this paper, we introduce the transition motion from biped standing to ladder climbing for a "Multi-Locomotion Robot (MLR)". The transition motion is basically divided into three steps: firstly, gripping the ladder's rung, secondly, walking close to the ladder, and stepping on the first rung of the ladder. In order to keep balance on gripping motion, we designed the trajectories of robot's hip and hands to control the center of gravity (COG). In the action of walking close to the ladder, the body adjustment measure for real environment with touch detection is included. Experimental resuts show that using these control theories the robot can do the transition motion from biped posture to ladder climbing stably and smoothly.
2009-05-25