抄録
This paper treated the Humanoid motions for climbing down a ladder based on the force sensors. The robot had seventeen DOF, and force sensors were equipped on the sole of foot for grasping a relative ladder position to the robot. Fast of all, climbing down motion was roughly divided into several postures. Each posture was interpolated to make a smoothness robot motion by developed GUI tool. The recognition of contacting the sole of foot with a ladder bar was executed by force sensors. As a result, it could be confirmed that robot climbed down a ladder successfully, just like a human.
