Exploration of Turning Strategies for an Unconventional Non-Anthropomorphic Bipedal Robot

摘要

This paper presents our findings in exploring various approaches for turning on a novel prototype biped which takes inspiration from humanoids, but features fundamental differences that increase its stability while reducing its cost and complexity. This non-anthropomorphic robotic system modifies the traditional humanoid form by aligning the legs in the sagittal plane and adding a compliant element to the feet. As this approach to locomotion is relatively new, turning methods have yet to be explored. Turning on this unique platform is a nontrivial problem that we examined by adding additional DoF in the forms of arms or hip actuators. The turning strategies tested include using the hand or foot as a pivot point, utilizing the arms like a tail or reaction wheel, and adding another DoF to each leg. The methods were tested quantitatively to assess their rotational accuracy and qualitatively to evaluate their viability in certain situations.