Towards passive walking for the fully-actuated biped robot Nao
- Many biped robots deploy a form of gait that follows the zero moment point (ZMP) approach, that is, the robot is in a stable position at any point in time. This requires the robot to be fully actuated. While very stable, the draw-backs of this approach are a fairly slow gait and high energy consumption. An alternative approach is the so-called passive-dynamic walking, where the gait makes use of the inertia and dynamic stability of the robot. In this paper we describe our ongoing work of combining the principles of passive-dynamic walking on the fully-actuated biped robot Nao, which is also deployed for robotic soccer applications. We present a simple controller that allows the robot to stably rock sidewards, showing a closed limit-cycle. We discuss first results of superimposing a forward motion on the sidewards motion. Based on this we expect to endow the Nao with a fast, robust, and stable passive-dynamic walk on the fully-actuated Nao in the future.
| Author: | Gareth Priede, Alexander FerreinORCiD |
|---|---|
| DOI: | https://doi.org/10.1007/978-1-4614-3558-7_18 |
| ISBN: | 978-1-4614-3557-0 ; 978-1-4614-3558-7 |
| Parent Title (English): | Emerging trends in computing, informatics, systems sciences, and engineering. (Lecture notes in electrical engineering : vol. 151) |
| Publisher: | Springer |
| Place of publication: | New York, NY |
| Document Type: | Part of a Book |
| Language: | English |
| Year of Completion: | 2013 |
| Date of the Publication (Server): | 2014/02/10 |
| First Page: | 225 |
| Last Page: | 236 |
| Link: | http://dx.doi.org/10.1007/978-1-4614-3558-7_18 |
| Zugriffsart: | bezahl |
| Institutes: | FH Aachen / Fachbereich Elektrotechnik und Informationstechnik |
| collections: | Verlag / Springer |
