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Slip-Turn for Biped Robots

机译：两足机器人的转弯

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摘要

This paper presents a method for generating a turning motion in a humanoid robot by allowing the feet of the robot to slip on the ground. As humans, we exploit the fact that our feet can slip on the ground, and allowing humanoid robots to realize this same motion is a worthwhile study. In this paper, we propose the hypothesis that a turning motion is caused by the effect of minimizing the power generated by floor friction. A model of rotation from this friction is then described based on our hypothesis. The proposed model suggests that only the trajectory and shape of the robot’s feet determine the amount of rotation from a slip, and that the friction coefficient between the floor and the soles of the robot, as well as the velocity of the feet, do not affect the resultant angle. Verification is conducted through an experiment with a humanoid robot known as HRP-2. Next, to obtain the foot motion necessary to realize the desired rotational angle, the inverse problem is solved by confining the trajectory of the center of the foot to an arc shape. This solution is verified through an experiment with another humanoid robot, HRP-4C.
机译：本文提出了一种通过让机器人的脚在地面上滑动来在类人机器人中产生旋转运动的方法。作为人类，我们利用脚可以在地面上滑动这一事实，让类人机器人实现相同的动作是值得研究的。在本文中，我们提出了一个假设，即旋转运动是由最小化地板摩擦产生的功率的效果引起的。然后基于我们的假设描述了由这种摩擦引起的旋转模型。提出的模型表明，只有机器人脚的轨迹和形状决定滑移的旋转量，并且机器人的脚底与地板之间的摩擦系数以及脚的速度不会影响结果角度。通过使用名为HRP-2的人形机器人进行的实验进行验证。接下来，为了获得实现期望的旋转角度所需的脚运动，通过将脚的中心的轨迹限制为弧形来解决反问题。通过与另一个人形机器人HRP-4C进行的实验验证了该解决方案。

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