Name
Abstract | ||
|---|---|---|
This paper presents an energy-efficient biped walking method that has been implemented in a low-cost humanoid platform, PINO, for various research purposes. For biped walking robots with low torque actuators, a control method that enables biped walking with low torque is one of the most important problems. While many humanoids use high-performance motor systems to attain stable walking, such motor systems tend to be very expensive. Motors that are affordable for many researchers have only limited torque and accuracy. Development of a method that allows biped walking using low-cost components would have a major impact on the research community as well as industry. From the view point of high energy-efficiency, many researchers have studied a simple planar walker without any control torque. Their walking motions, however, are decided by the relationship between a gravity potential effect and structural parameters of their robots. Thus, there is no control of walking behaviors such as speed and dynamic change in step size. In this paper, we propose a control method using the moment of inertia of the swing leg at the hip joint, and confirm that a robot controlled by this method can change its walking speed when the moment of inertia of the swing leg at the hip joint is changed without changing the step length. Finally, we apply this control method to the PINO model with torso in computational simulations, and confirm that the method enables stable walking with limited torque. |
Year | DOI | Venue |
|---|---|---|
2001 | 10.1007/3-540-45603-1_7 | RoboCup 2009 |
Keywords | Field | DocType |
control method,swing leg,limited torque,hip joint,low torque,energy-efficient biped,control torque,stable walking,walking speed,low torque actuators,computer simulation,moment of inertia,energy efficient,motor system | Moment of inertia,Inverted pendulum,Torque,Control theory,Computer science,Simulation,Artificial intelligence,Robot,Robotics,Swing,Humanoid robot,Preferred walking speed | Conference |
ISBN | Citations | PageRank |
3-540-43912-9 | 2 | 0.51 |
References | Authors | |
8 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Fuminori Yamasaki | 1 | 53 | 7.64 |
| Ken Endo | 2 | 21 | 2.57 |
| Minoru Asada | 3 | 3147 | 561.84 |
| Hiroaki Kitano | 4 | 3515 | 539.37 |