A study of energy-saving shoes for robot considering 3D motion

Author

Minakata, Hideaki ; Tadakuma, Susumu

Author_Institution

Chiba Inst. of Technol., Narashino

fYear

0

fDate

0-0 0

Firstpage

386

Lastpage

391

Abstract

In this paper, we propose flexible shoe system for biped robot to optimize energy consumption of sagittal and lateral plane motion. This shoe system is made to deform decline outside in lateral plane and it can absorb the kinetic energy of the robot in lateral plane. Besides, this system supports sagittal plane motion like a rocking chair. Furthermore, this hardware (shoes) and software (controller) can be easily applicable to the ordinary walking robot system. The effectiveness and characteristics of this system is confirmed by computer simulations and experimental result. It is confirmed that stiffness of shoe is very important parameter for energy consumption

Keywords

elasticity; energy conservation; footwear; legged locomotion; power control; robot kinematics; 3D motion; biped robot; energy-saving shoes; flexible shoe system; kinetic energy absorption; lateral plane motion; sagittal plane motion; shoe stiffness; Computer simulation; Control systems; Energy consumption; Footwear; Humanoid robots; Kinetic energy; Leg; Legged locomotion; Springs; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2006. 9th IEEE International Workshop on

Conference_Location

Istanbul

Print_ISBN

0-7803-9511-1

Type

conf

DOI

10.1109/AMC.2006.1631689

Filename

1631689