Refine
Year of publication
- 2024 (8)
- 2023 (21)
- 2022 (12)
- 2021 (25)
- 2020 (20)
- 2019 (30)
- 2018 (35)
- 2017 (25)
- 2016 (26)
- 2015 (28)
- 2014 (24)
- 2013 (29)
- 2012 (24)
- 2011 (31)
- 2010 (26)
- 2009 (27)
- 2008 (27)
- 2007 (28)
- 2006 (17)
- 2005 (15)
- 2004 (19)
- 2003 (12)
- 2002 (20)
- 2001 (20)
- 2000 (19)
- 1999 (23)
- 1998 (16)
- 1997 (13)
- 1996 (10)
- 1995 (11)
- 1994 (15)
- 1993 (9)
- 1992 (8)
- 1991 (4)
- 1990 (6)
- 1989 (5)
- 1988 (5)
- 1987 (2)
- 1986 (1)
- 1985 (6)
- 1984 (1)
- 1982 (2)
- 1981 (1)
- 1980 (4)
- 1979 (2)
- 1978 (3)
- 1976 (1)
- 1975 (1)
- 1974 (1)
Institute
- Fachbereich Elektrotechnik und Informationstechnik (718) (remove)
Language
- English (718) (remove)
Document Type
- Article (414)
- Conference Proceeding (234)
- Part of a Book (38)
- Book (23)
- Conference: Meeting Abstract (5)
- Patent (2)
- Conference Poster (1)
- Doctoral Thesis (1)
Keywords
- Enterprise Architecture (5)
- MINLP (5)
- Engineering optimization (4)
- Optimization (3)
- Powertrain (3)
- Technical Operations Research (3)
- Telecommunication (3)
- Competence Developing Games (2)
- Energy efficiency (2)
- Engineering education (2)
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.