Realization of quick turn of biped humanoid robot by using slipping motion with both feet

  title={Realization of quick turn of biped humanoid robot by using slipping motion with both feet},
  author={Kenji Hashimoto and Yuki Yoshimura and Hideki Kondo and Hun-ok Lim and Atsuo Takanishi},
  journal={2011 IEEE International Conference on Robotics and Automation},
This paper describes a fast turning method for a humanoid robot by using slipping motion with both feet. The humanoid robot, WABIAN-2R, has achieved human-like walking with heel contact and toe off motions by using a human-like foot mechanism with a passive toe joint. The human-like foot enables a robot to turn by using slipping motion between the feet and the ground because it can switch ground contact conditions such as heel contact, sole contact and toe contact. To realize a slipping turn… CONTINUE READING
Highly Cited
This paper has 32 citations. REVIEW CITATIONS
17 Citations
8 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 17 extracted citations


Publications referenced by this paper.
Showing 1-8 of 8 references

A Study of Function of the Human’s Foot Arch Structure Using Biped Humanoid Robot

  • K. Hashimoto, Y. Takezaki, +4 authors A. Takanishi
  • Proc. of the 2010 IEEE/RSJ International…
  • 2010
Highly Influential
4 Excerpts

Slip Turn Generation of Humanoid Robots Based on an Analysis of Friction Model

  • K. Miura, F. Kanehiro, K. Harada, K. Kaneko, K. Yokoi, S. Kajita
  • Proc. of the 13th International Conference on…
  • 2010
1 Excerpt

Similar Papers

Loading similar papers…