Abstract
Recently, humanoid robots have been developed in the area of robotics. We hope humanoid robots are enabled to act in disaster site. Because the humanoid robot can perform action like human. However, the robots can't walk on irregular ground. In this study, we present a hovering unit mounted to the sole of the humanoid robot. By this system, humanoid robot can switch between walking and floating movement. Floating movement can be executed without being affected by the ground. As a first step in the development of floating humanoid robot, we developed the attitude control of the ducted fan bicopter.
