1A1-E12 Sliding Motion of Biped Walking Robots Mounted on Passive Wheels : 2nd Report: Realization of Kicking Motion by Roller Skates

Abstract

Biped walking is easily adaptable to rough terrain such as stairs and stony paths, but the walk speed and energy efficiency on the flat ground is not so effective compared with wheeled locomotion. This paper describes a motion pattern generation for roller skating of biped walking robots. If the robot's weight is on the standing foot during kicking motion, there will be no sufficient friction for the kicking foot. So, we propose a kicking pattern generation based on ZMP from a kicking phase to a standing phase. Through hardware experiments, a skating motion was realized, and the effectiveness of the proposed method was confirmed.