Fachbereich Elektrotechnik und Informationstechnik
Filtern
Erscheinungsjahr
- 2013 (3) (entfernen)
Institut
Volltext vorhanden
- nein (3)
Dokumenttyp
- Teil eines Buches (Kapitel) (3) (entfernen)
Schlagworte
- IT-Marketing (1)
Zugriffsart
- bezahl (1)
Gehört zur Bibliographie
- nein (3)
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.
Innovation und Kommunikation
(2013)
Erfolgreiches IT-Marketing
(2013)