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Analysis of sliding behavior of a biped robot in centroid acceleration space

Published online by Cambridge University Press:  04 September 2015

Taku Senoo  and
Masatoshi Ishikawa
Taku Senoo*
Affiliation:
Department of Information Physics and Computing, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Masatoshi Ishikawa
Affiliation:
Department of Information Physics and Computing, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
*
*Corresponding author. E-mail: Taku_Seno@ipc.i.u-tokyo.ac.jp
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In this article, a two-dimensional analysis of biped robot sliding dynamics is performed. First, the dynamics of a biped robot based on feet-slip are derived using the coulomb friction model. The state transition can be formulated in the centroid acceleration space whose diagram is defined as a “triangle of sliding friction” (TSF). The TSF's characteristics are explained by focusing on comparison with the cone of friction which has a similar state decision diagram. Next, for the behavioral simulation of a concrete model, a 2-DOF biped robot is used to analyze the sliding features in terms of the asymmetry of the dynamics of each leg. Finally, the sliding characteristics are applied to the two tasks of running and somersaulting. The results show the robot takes short rapid repetitive steps for running based on frictional asymmetry and theoretically based on torque asymmetry can make one revolution using the large angular momentum acquired during sliding motion.

Keywords

Biped robotSlidingState transitionRunningSomersault
Type
Articles
Information
Robotica , Volume 35 , Issue 3 , March 2017 , pp. 636 - 653
Creative Commons
Creative Common License - CCCreative Common License - BYCreative Common License - NCCreative Common License - SA
This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted re-use, distribution, and reproduction in any medium, provided the original work is properly cited.
Copyright
Copyright © Cambridge University Press 2015

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