Dynamical model of humanoid considering slipping with nonlinear floor friction and internal force during free-fall motion

摘要

Biped locomotion created by controlling methods based on Zero-Moment Point (ZMP) has been realized in real world and been well verified its efficacy for stable walking. However the walking strategies that have been proposed so far seem to avoid such considerations as slipping of foot on the floor, even though there should exist the slipping large or small in real world. In this research, a dynamical model of humanoid robot including slipping of foot is proposed, which is derived by the Newton-Euler (NE) method. To confirm the veracity of the derived dynamic model, the model has been verified from the view point that when all friction coefficients are identical to zero, the total kinetic energy should be conserved to be unchanged, and when the coefficients are not zero, the total kinetic energy should decrease monotonously.