Controlling Omnidirectional-wheel and Correcting by Inertial Sensor

To expand the range of activities of humanoid robots, humanoid robots themselves need to be able to travel through terrain of various environments. In this research, as a new system to enable a humanoid robot to walk more efficiently on a rough terrain, the contact area with the ground is greatly reduced, and to make the robot less susceptible to the situation on the ground surface. Currently, we are researching on this robot about standing.