Dynamic horizontal movement of a bipedal robot using frictional asymmetry

摘要

In this paper, dynamic horizontal movement is considered with the goal of achieving high-speed dynamic leg motion. We propose a new movement principle using frictional asymmetry for legged robots. This motion strategy consists of a sliding motion based on kinematic constraints and a jumping motion which makes use of lightweight high-torque motors. In addition, the motion characteristics based on the dynamics are analyzed. Experimental results are shown in which a 2-DOF bipedal robot takes short rapid repetitive steps with compensation for the landing time controlled by high-speed visual feedback.