Dynamic Lateral Stability for an Energy Efficient Gait

نویسندگان

  • Zhenglong Sun
  • Nico Roos
چکیده

This paper presents an energy efficient dynamically stable gait for a Nao humanoid robot. In previous work we identified a dynamically stable and energy efficient gait in the sagittal or walking direction of a Nao robot. This gait proved to be more energy efficient than the standard gait, provided by the manufacturer. Dynamic stability in the lateral direction was not addressed. Lateral stability was handled by full stiffness of the joint in lateral direction. In this paper we report on adding dynamic lateral stability. We do not yet incorporate feedback of sensors. This implies that the gait is only suited for flat horizontal surfaces that some lateral joint stiffness is needed in the implementation on the Nao.

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تاریخ انتشار 2014