A low power walk for the NAO robot

Title: A low power walk for the NAO robot
Creator: Kulk, Jason; Welsh, James
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
Publisher: Australian Robotics & Automation Association
Resource Type: conference paper
Date: 2008
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.
Subject: robots; humanoid robotics; walking gait; walk pattern generator; low-level positional control
Identifier: http://hdl.handle.net/1959.13/44925
Identifier: uon:5914
Identifier: ISBN:9780646506432
Language: eng
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