G1500-3-6 ヒューマノイドロボットの移動モーションの戦略(ロボティクス・メカトロニクス部門一般講演(3):ヒューマノイドロボット,社会変革を技術で廻す機械工学)

概要

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So far, we made various motions by using humanoid robot. Person's motion, moving images and the motion of myself were observed, and those were imitated, and the motions of humanoid robots were made. With considering physical laws of the center of gravity, the inertia, the frictional power, the motions were made. In this paper, we collected our thoughts. For the simplification, we think about horizontal plane and a robot with arms and legs. The physical relationships between the robot and floor had 4 patterns (S): Static, (A): The gravity point was on the support polygon, (B): The gravity point was out of the support polygon, (C): Jumping). We considered the state transition of 4 patterns. And we described the strategy of the movement motion of humanoid robot
2010-09-04