Abstract
Small humanoid robots are expected to advance into society in the field of nursing care and welfare. Among them, the home robots need to move freely even in space with obstacles. Based on these facts, we have the goal to let overcome a step on a small humanoid robot. By the previous work, we made a small humanoid robot and the robot succeeded in climbing a step. I improve the stability of this developed action using an event-driven motion description system. I use the system developed for robot hand and called “SAEN”. I will create a new one modified for a small humanoid robot. Then I verify that system using ODE simulation.
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