Abstract
When a humanoid robot walks on loose soil such as sand and snow, it is important for the humanoid robot to roughly estimate the dynamic behavior of the loose soil. This paper discusses a dynamic model of loose soil. Sand is taken as an example of loose soil. A mock-up of a foot of the humanoid robot with different loads is dropped onto the sand, and the relationship between the sinkage and ground reaction force generated on the mock-up is investigated. Based on the experimental results, a dynamic sink model of the sand is discussed. The parameters of the model are determined by performing dynamic simulations so that the error between the simulation result and experimental result is minimized.
