MOTION GENERATION FOR A HUMANOID ROBOT WITH INLINE-SKATE

Nir Ziv, Yong Kwun Lee, Gaetano Ciaravella

2010

Abstract

A lot of research has been done for bipedal walking and many positive results have been produced, such as the ASIMO robot from Honda. However, although bipedal walking is a good solution for moving over uneven surfaces; bipedal walking is inefficient over an even surface because the robot’s walking speed and stability are limited. Consequently, employing a wheeled locomotion on even surfaces can be advantageous. This paper presents a mathematical model and simulation of wheeled biped robot with two passive wheels on each foot. This enables the robot to move more efficiently over even surfaces. Also, this paper attempts to produce a more human-like inline-skating motion than previously created inline-skating simulations.

Paper Citation

in Harvard Style

Ziv N., Lee Y. and Ciaravella G. (2010). MOTION GENERATION FOR A HUMANOID ROBOT WITH INLINE-SKATE . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 354-359. DOI: 10.5220/0002889603540359

in Bibtex Style

@conference{icinco10,
author={Nir Ziv and Yong Kwun Lee and Gaetano Ciaravella},
title={MOTION GENERATION FOR A HUMANOID ROBOT WITH INLINE-SKATE},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={354-359},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002889603540359},
isbn={978-989-8425-01-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MOTION GENERATION FOR A HUMANOID ROBOT WITH INLINE-SKATE
SN - 978-989-8425-01-0
AU - Ziv N.
AU - Lee Y.
AU - Ciaravella G.
PY - 2010
SP - 354
EP - 359
DO - 10.5220/0002889603540359