Rotational Motion Control in Chair Seated State by Robot Foot with Lateral Force Sensation

Abstract

Currently, humanoids have fewer leg movements than humans. In order to realize large leg movements like humans, the foot is important because it is the part of the body that makes contact with the ground. In this study, we focus on the outer edge of the foot, which has not been paid attention to so, and develop a robot foot with an outer edge measurement structure equipped with one-axis force sensors on the bottom and sides. Using this, a large rotation angle was achieved by controlling the frictional force, especially for the rotational motion in the chair seating state, which is a motion that requires the use of the outer edge of the foot.