Authors:
Nir Ziv
1
;
Yong Kwun Lee
1
and
Gaetano Ciaravella
2
Affiliations:
1
Center for Cogntive Robotics, University of Science and Technology (UST) and Korea Institute of Science and Technology (KIST), Korea, Republic of
;
2
Cognative Center for Robotic Research, Korea Institute of Science and Technology (KIST), Korea, Republic of
Keyword(s):
Humanoid, Inline-Skate, Skating Motion, Wheeled Locomotion.
Related
Ontology
Subjects/Areas/Topics:
Autonomous Agents
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Robotics and Automation
Abstract:
A lot of research has been done for bipedal walking and many positive results have been produced, such as the ASIMO robot from Honda. However, although bipedal walking is a good solution for moving over uneven surfaces; bipedal walking is inefficient over an even surface because the robot’s walking speed and stability are limited. Consequently, employing a wheeled locomotion on even surfaces can be advantageous. This paper presents a mathematical model and simulation of wheeled biped robot with two passive wheels on each foot. This enables the robot to move more efficiently over even surfaces. Also, this paper attempts to produce a more human-like inline-skating motion than previously created inline-skating simulations.