Identification of HRP-2 foot's dynamics

This paper describes the identification of HRP-2 foot's dynamics. It is expected that a humanoid robot will work in the same environment as man. For that purpose, safety of operation is important. Although a simulator is used for confirming safe conditions of operation, an error may arise in a...

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Bibliographic Details
Published in2014 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 927 - 932
Main Authors Mikami, Yuya, Moulard, Thomas, Yoshida, Eichi, Venture, Gentiane
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2014
Subjects
Foot
Joints
Mathematical model
Robots
Rubber
Torque
Vectors
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Summary:This paper describes the identification of HRP-2 foot's dynamics. It is expected that a humanoid robot will work in the same environment as man. For that purpose, safety of operation is important. Although a simulator is used for confirming safe conditions of operation, an error may arise in a dynamic parameter by the robot of a simulator, and an actual robot. In this paper, it identified about the viscoelasticity of the sole bush for impact absorption at the time of the walk of humanoid robot HRP-2. We used some simple active motions and composed these motions. We identified parameter using composed motions. We finally compare the identified parameters using the experimental results and simulator results.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2014.6942670