Imitation Behavior of the Outer Edge of the Foot by Humanoids Using a Simplified Contact State Representation
Yoshimoto Ribayashi, Kento Kawaharazuka, Yasunori Toshimitsu, Daiki Kusuyama, Akihiro Miki, Koki Shinjo, Masahiro Baudo, Temma Suzuki
Abstract
There is a way to utilize humanoid robots to mimic human behavior by taking advantage of their human-like proportions. In general, motion capture is used; in this case, the posture of the body links can be taken. However, this method does not provide detailed information on the contact state, which is important for actions that involve contact with objects. In this study, we focused on the foot, which has not been paid much attention among the parts where contact and manipulation with objects are important, and developed a device to measure the contact pressure distribution at the outer edge of the sole. We proposed an index, SS-COP, which simply reflects the contact on the curved surface of the sole for this device and a robot foot with lateral force sensation and realized a behavior that imitates the foot condition of a humanoid robot by using this index.
BibTeX
@inproceedings{iros2022_imitationbehavio,
title = {Imitation Behavior of the Outer Edge of the Foot by Humanoids Using a Simplified Contact State Representation},
author = {Yoshimoto Ribayashi and Kento Kawaharazuka and Yasunori Toshimitsu and Daiki Kusuyama and Akihiro Miki and Koki Shinjo and Masahiro Baudo and Temma Suzuki and Yuta Kojio and Kei Okada and Masayuki Inaba},
booktitle = {IROS 2022},
year = {2022}
}