A Low Power Walk for the NAO Robot英文文献资料.pdfVIP

A Low Power Walk for the NAO Robot Jason Kulk and James Welsh University of Newcastle, Australia jason.kulk@.au Abstract pattern, and maintains the ZMP inside the support poly- gon, a stable walk can be produced. Generally online walk pattern generators for humanoids are simplified, and don’t produce Humans do not use high-gain trajectory tracking. For ideal gaits. Allowing the robot to ‘settle’ into example, the tendon stiffness in the ankle is very low a more natural gait through the modification [Loram et al., 2005], and while standing, the hip has a of the low-level positional controller would pro- similar passive stiffness in the anteroposterior and medi- vide significant benefits. In this paper we at- olateral directions [Rietdyk et al., 1999; Matjacic, 2001]. tempt to achieve this, by limiting the power Perhaps, humanoid robots should have similarly low available to each motor in a humanoid, hence stiffness in the control of each joint. restricting how rigidly the joint can follow the There are several attempts to emulate low stiff- generated walk pattern. This approach was ness, typically involving modifications of the high-level evaluated by implementing the control modi- controller. For example, using an impedance con- fication on a humanoid robotics platform. The troller [Lim et al., 2001], or using a variable compliance results show