SHUFFLE TURN OF HUMANOID ROBOT SIMULATION BASED ON EMG MEASUREMENT

Recently, many researchers have been studying a method that involves the stepless slip motion of humanoid robots. However, it is not clear how it works or how it is controlled. In this research, we measured the muscle activity in the leg of a human subject performing a shuffle turning motion by using an electromyograph. The results indicated that the hip joint performed an important function in shuffle turning. Then, we verified this hypothesis using a life-size humanoid dynamic simulator that was constructed using ODE. By controlling the hip pitch joint angle and knee pitch angle using a proportional controller, the robot turned as much as a real human. Thus, our hypothesis was supported by this experiment.