Humanoid Robot Crawling Motion Control on Uneven Ground Using Human-shaped Mannequin Operating Device with Actuators

Abstract

In this paper, we focus on humanoid robots rough terrain traversal. In order for humanoid robots to cross over uneven ground, we propose a humanoid robot mannequin device with actuators. The device has the same number of joints as the controlled humanoid robot and the operator of the robot can switch which limbs the operator would like to control. With the mannequin device, we did an uneven ground traversing experiment with real-time operation.