DocumentCode
2374657
Title
An energy consumption based control for humanoid walking
Author
Yamasaki, Fuminori ; Hosoda, Koh ; Asada, Minoru
Author_Institution
Dept. of Adaptive Machine Syst., Emergent Robotics Area, Osaka, Japan
Volume
3
fYear
2002
fDate
2002
Firstpage
2473
Abstract
This paper presents a framework of the energy consumption based control system for humanoid walking. Unlike the existing two approaches (One is based on precise control and powerful actuators (full control and wide applicability), and the other is passive dynamic walk (no control, therefore limited applicability)), the method aims at less energy consumption with more applicability. Knee stretching posture contributed to the former in general and a search algorithm based on the computer simulation enabled to find a feasible control to the given task.
Keywords
legged locomotion; motion control; biped walking; control; energy consumption; energy efficient walking; humanoid walking; knee stretching; search algorithm; Actuators; Adaptive systems; Control systems; Energy consumption; Energy efficiency; Humanoid robots; Knee; Leg; Legged locomotion; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN
0-7803-7398-7
Type
conf
DOI
10.1109/IRDS.2002.1041640
Filename
1041640
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