Abstract
This paper describes a fast turning method for a humanoid robot by using slipping motion with both feet. The humanoid robot, WABIAN-2R, has achieved human-like walking with heel contact and toe off motions by using a human-like foot mechanism with a passive toe joint. The human-like foot enables a robot to turn by using slipping motion because it can switch ground contact conditions such as heel contact, sole contact and toe contact. To realize a slipping turn, we develop an attitude control. Verification of the proposed method is conducted through experiments with WABIAN-2R. WABIAN-2R realized a quick turn by using slipping motion with both feet. We also confirmed the energy consumption of a slipping turn is less than that of a stepping turn.
