Quick Slip-Turn of HRP-4C on Its Toes

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#Kanako Miura #Fumio Kanehiro #Kenji Kaneko #Shuuji Kajita #Kazuhito Yokoi #quick turning motion #HRP4C humanoid robot #foot trajectory #toe joints #frictional torque

This videos shows the quick turning motion of HRP-4C humanoid robot using slip between its feet and the ground. The foot trajectory was generated under the hypothesis that turning via slip occurs as a result of minimizing the power caused by floor friction. To realize quicker motion, the toe joints of the robot were used to reduce the frictional torque.

This videos shows the quick turning motion of HRP-4C humanoid robot using slip between its feet and the ground. The foot trajectory was generated under the hypothesis that turning via slip occurs as a result of minimizing the power caused by floor friction. To realize quicker motion, the toe joints of the robot were used to reduce the frictional torque.

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