- 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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