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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

ISBN: 978-989-8425-01-0

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.

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Paper citation in several formats:
Ziv N.; Lee Y.; Ciaravella G. and (2010). MOTION GENERATION FOR A HUMANOID ROBOT WITH INLINE-SKATE.In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 354-359. DOI: 10.5220/0002889603540359

@conference{icinco10,
author={Nir Ziv and Yong Kwun Lee and Gaetano Ciaravella},
title={MOTION GENERATION FOR A HUMANOID ROBOT WITH INLINE-SKATE},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={354-359},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002889603540359},
isbn={978-989-8425-01-0},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MOTION GENERATION FOR A HUMANOID ROBOT WITH INLINE-SKATE
SN - 978-989-8425-01-0
AU - Ziv, N.
AU - Lee, Y.
AU - Ciaravella, G.
PY - 2010
SP - 354
EP - 359
DO - 10.5220/0002889603540359

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