2A1-M04 Simulation and Realization of Rolling-Over Motion with Soft Exterior Humanoid

Abstract

With soft exterior and tactiles, humanoid robots will be more adaptive to contact with daily environment or with self body, and will have closer relation with surroundings. But, such close interaction causes complicated contacts, and rule of tactile feedback to motion can hardly be derived with analytic approach. This paper will show that a tactile feedback rule in a rolling-over motion (as an example of close interaction mentioned above) of the baby sized humanoid can be automatically acquired with simulation based evolutionary robotics approach. At last, the acquired feedback rule is tested using real robot.