Akira Yanou    Department   Kawasaki University of Medical Welfare  ,    Position   Professor
Language	English
Title	Dynamical Modeling of Humanoid with Nonlinear Floor Friction
Conference	21st International Symposium on Artificial Life and Robotics
Conference Type	International society and overseas society
Presentation Type	Speech
Lecture Type	General
Publisher and common publisher	◎Xiang Li, Hiroki Imanishi, Mamoru Minami, Takayuki Matsuno and Akira Yanou
Date	2016/01
Venue (city and name of the country)	Beppu, Japan
Summary	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.