TY - GEN
T1 - Design of Crawling Motion for a Biped Walking Humanoid with 3-DoF Rigid-Flexible Waist
AU - Huang, Zelin
AU - Jiang, Xinyang
AU - Liu, Huaxin
AU - Chen, Xuechao
AU - Fukuda, Toshio
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - In order to be applied in complex environment, humanoid robots are desired to have the ability of both biped walking and quadruped crawling. Crawling is a multicontact motion. If the mechanism is completely rigid, there will be a closed kinematic chain of robot which is likely to cause damage to robot joints. Therefore, the robot needs to have some flexibility in mechanism. However, biped walking requires highly rigid mechanism to maintain walking stability. Consequently, it is a crucial issue to study crawling motion and biped walking motion in case of rigid-flexible mechanism. In this paper, firstly a 3-DoF rigid-flexible waist is proposed. The waist has rigidity when walking and flexibility when crawling. Then a crawling pattern generation algorithm based on CPG is presented, which solves the problem of difficult to plan crawling motion of robot with rigid-flexible mechanism. Finally, the validity of the proposed method is confirmed by experiments.
AB - In order to be applied in complex environment, humanoid robots are desired to have the ability of both biped walking and quadruped crawling. Crawling is a multicontact motion. If the mechanism is completely rigid, there will be a closed kinematic chain of robot which is likely to cause damage to robot joints. Therefore, the robot needs to have some flexibility in mechanism. However, biped walking requires highly rigid mechanism to maintain walking stability. Consequently, it is a crucial issue to study crawling motion and biped walking motion in case of rigid-flexible mechanism. In this paper, firstly a 3-DoF rigid-flexible waist is proposed. The waist has rigidity when walking and flexibility when crawling. Then a crawling pattern generation algorithm based on CPG is presented, which solves the problem of difficult to plan crawling motion of robot with rigid-flexible mechanism. Finally, the validity of the proposed method is confirmed by experiments.
UR - http://www.scopus.com/inward/record.url?scp=85062299783&partnerID=8YFLogxK
U2 - 10.1109/HUMANOIDS.2018.8624931
DO - 10.1109/HUMANOIDS.2018.8624931
M3 - Conference contribution
AN - SCOPUS:85062299783
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 974
EP - 979
BT - 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
PB - IEEE Computer Society
T2 - 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
Y2 - 6 November 2018 through 9 November 2018
ER -