Self-stable Omnidirectional Walking with Compliant Joints
Bipedal walking is one of the most essential skills in humanoid robot soccer. A stable and fast gait gives teams a winning edge when their robots are the first at the ball, maintain ball control with sure feet, and drive the ball decisively towards the opponent goal. The most successful teams in the Humanoid League are typically characterized by reliably walking robots. In this contribution, we describe the omnidirectional gait of team NimbRo, one of the most successful robot soccer teams in the history of RoboCup. The walk algorithm is open-loop and model-free. It is based on highly configurable, centralpattern-generated rhythmic motion signals and combines well with a compliant servo setting to achieve a relatively high level of self-stability. We discuss the advantages of this approach in comparison with methods of other successful teams and support our argumentation with experimental results.
Towards Bipedal Jogging as a Natural Result of Optimizing Walking Speed for Passively Compliant Three-Segmented Legs
Elasticity in conventionally built walking robots is an undesired sideeffect that is suppressed as much as possible because it makes control very hard and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with sufficient stability. In this research we investigate how compliance and damping can deliberately be used in h...متن کامل
Compliant ankles and flat feet for improved self-stabilization and passive dynamics of the biped robot "RunBot"
Biomechanical studies of human walking reveal that compliance plays an important role at least in natural and smooth motions as well as for self-stabilization. Inspired by this, we present here the development of a new lower leg segment of the dynamic biped robot “RunBot”. This new lower leg segment features a compliant ankle connected to a flat foot. It is mainly employed to realize robust sel...متن کامل
This work presents a walking pattern generator based on the control of the center of mass (COM) states and its experimental validations on the compliant humanoid robot COMAN powered by intrinsically compliant joints. To cope with the inaccuracies of the joint position tracking resulted by the physical compliance, the proposed pattern generator uses the feedback states of the COM and on-line com...متن کامل
This paper present a self-excited walking of a fourlink biped mechanism which possesses an actuated hip joint and passive knee joints. First we manifested that this self-excitation control enables 3-DOF planar biped model to walk on a level ground, by numerical simulation. Next we showed experimental study of a manufactured planar biped walking robot. We demonstrated that stable walking can be ...متن کامل
Compliant elements in the leg musculoskeletal system appear to be important not only for running but also for walking in human locomotion as shown in the energetics and kinematics studies of spring-mass model. While the spring-mass model assumes a whole leg as a linear spring, it is still not clear how the compliant elements of muscle-tendon systems behave in a human-like segmented leg structur...متن کامل