Please use this identifier to cite or link to this item: http://hdl.handle.net/1959.13/44925

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Title
A low power walk for the NAO robot
Author/Creator
Kulk, Jason;  Welsh, James
Institution
The University of Newcastle. Faculty of Engineering & Built Environment, School of Electrical Engineering and Computer Science
Description
Generally online walk pattern generators for humanoids are simplified, and don’t produce ideal gaits. Allowing the robot to ‘settle’ into a more natural gait through the modification of the low-level positional controller would provide significant benefits. In this paper we attempt to achieve this, by limiting the power available to each motor in a humanoid, hence restricting how rigidly the joint can follow the generated walk pattern. This approach was evaluated by implementing the control modification on a humanoid robotics platform. The results show a significant improvement in walk speed, efficiency, and robustness. Moreover, the approach used here could be easily applied to any walk pattern generator, as the modification is in the low-level positional control.
Relation
Australasian Conference on Robotics and Automation 2008. Proceedings of the 2008 Australasian Conference on Robotics & Automation (Canberra, A.C.T. 3-5 December, 2008)
Relation
http://www.araa.asn.au/acra/acra2008/index.html
Date
2008
Publisher
Australian Robotics & Automation Association
Keyword(s)
robots;  humanoid robotics;  walking gait;  walk pattern generator;  low-level positional control
Resource Type
conference paper
Identifier
http://hdl.handle.net/1959.13/44925
Identifier
ISBN:9780646506432
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Subject
"A low power walk for the NAO robot"
 
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