Extended Three-Dimensional Walking and Skating Motion Generation for Multiple Noncoplanar Contacts With Anisotropic Friction: Application to Walk and Skateboard and Roller Skate

In this letter, we propose a three-dimensional (3-D) walking and skating motion generation method to achieve sequential walking and skating motion with skateboard and roller skate. For generating the sequential stable skating motion using a passive wheel, we must deal with non-coplanar contacts with anisotropic friction. Therefore, we use contact wrench cone (CWC) for considering complex contact states and introduce the novel terminal constraints using the CWC and divergent component of motion, which guarantee the stability of both walking and skating motion in the 3-D center of mass trajectory generation. Applying proposed method, the life-sized humanoid JAXON could successfully walk at 0.6 [m/s] and skate with skateboard and roller skate at 1.0 [m/s].