抄録
A human being utilizes its singularities to achieve efficient walk. A robot, however, cannot handle singularities, and hence, extremely large joint velocity is generated. We have so far proposed the Singularity Consistent (SC) Approach that can handle the singularity problem without instabilities, and applied the method to generate static walk for a humanoid. However, it is difficult to directly apply the method to generate dynamic walk, since it slows down the motion around singularities in certain directions. In this paper, we propose a method to generate a walking pattern through singularity neiborhood, by using proper ankle control and pattern generation based on the spherical inverted pendulum model. Experimental results show the effectiveness of our approach.
