ヤノウ　アキラ   Akira Yanou   矢納　陽    所属   川崎医療福祉大学  医療技術学部 診療放射線技術学科    職種   教授
言語種別	英語
発表タイトル	Dynamical Modeling of Humanoid with Nonlinear Floor Friction
会議名	21st International Symposium on Artificial Life and Robotics
学会区分	国際学会及び海外の学会
発表形式	口頭
講演区分	一般
発表者・共同発表者	◎Xiang Li, Hiroki Imanishi, Mamoru Minami, Takayuki Matsuno and Akira Yanou
発表年月日	2016/01
開催地 （都市, 国名）	Beppu, Japan
概要	Biped locomotion created by a controller based on Zero-Moment Point [ZMP] known as reliable control method looks different from human's walking on the view point that ZMP-based walking does not include falling state, and it's like monkey walking because of knee-bended walking profiles. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of humanlike natural walking. In this research, a walking model of humanoid robot including slipping, bumping, surface-contacting and point-contacting of foot is discussed, and its dynamical equation is derived by the Extended NE method. And we considering the siliping of the foot of humanoid robot when the friction coefficient is small to create this walking model. In this paper we will introduce the new model which including the slipping supporting foot of humanoid robot and verify the model.