Verification of Humanoid Robot Model Considering Stick/Slip Friction

Abstract: Biped locomotion created by referring to ZMP criterion to keep a robot stable during walking have contributed to promising humanoid’s walking strategies, having realized stable walking of real humanoid robots. However the walking strategies having been proposed so far including ZMP-based stabilization method seem to be constructed on assumption that the slippage doesn’t occur. In this paper, a walking model of humanoid robot including slipping, bumping, surface-contacting and point-contacting of foot is discussed, and its dynamical equation is derived by Newton-Euler method. And we introduce a new model that includes the slipping of supporting or lifting foot. In this thesis, we verify whether our humanoid robot model and gait models considering stick/slip friction motion are correct or not from the view point that the law of mechanical energy conservation are always kept when no energy consumption is given as a condition of motion.