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Design of an autonomous fast-walking humanoid robot

Hardt, Michael and Wollherr, D. and Buss, M. and Stryk, Oskar von (2002):
Design of an autonomous fast-walking humanoid robot.
Bury St. Edmunds, Prof. Engineering Publ., In: CLAWAR: International Conference on Climbing and Walking Robots, Paris, France, In: International Conference on Climbing and Walking Robots and their Supporting Technologies <5, 2002, Paris>: Proceedings ... / ed. Philippe Bidaud.- Bury St. Edmunds: Prof. Engineering Publ., 2002.- ISBN 1-86058-380-6.- S. 391-398, [Conference or Workshop Item]

Abstract

The design considerations for a small, relatively fast walking, autonomous humanoid robot are presented. The robot must be energy efficient but also produce sufficient torque to reach greater speeds. On the basis of previous investigations into gait optimization for multilegged systems, dynamical modeling and nonlinear optimization tools are used for design optimization and choosing the motor size and gear ratios. Gait trajectories for relatively fast steps and different prototypes were calculated. The design decisions are described for the humanoid robot with 6 degrees-of-freedom (DoF) in each leg and 2 DoF in each arm based on numerical results and preliminary investigations with a 4 DoF test robot.

Item Type: Conference or Workshop Item
Erschienen: 2002
Creators: Hardt, Michael and Wollherr, D. and Buss, M. and Stryk, Oskar von
Title: Design of an autonomous fast-walking humanoid robot
Language: English
Abstract:

The design considerations for a small, relatively fast walking, autonomous humanoid robot are presented. The robot must be energy efficient but also produce sufficient torque to reach greater speeds. On the basis of previous investigations into gait optimization for multilegged systems, dynamical modeling and nonlinear optimization tools are used for design optimization and choosing the motor size and gear ratios. Gait trajectories for relatively fast steps and different prototypes were calculated. The design decisions are described for the humanoid robot with 6 degrees-of-freedom (DoF) in each leg and 2 DoF in each arm based on numerical results and preliminary investigations with a 4 DoF test robot.

Series Name: International Conference on Climbing and Walking Robots and their Supporting Technologies <5, 2002, Paris>: Proceedings ... / ed. Philippe Bidaud.- Bury St. Edmunds: Prof. Engineering Publ., 2002.- ISBN 1-86058-380-6.- S. 391-398
Place of Publication: Bury St. Edmunds
Publisher: Prof. Engineering Publ.
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: CLAWAR: International Conference on Climbing and Walking Robots
Event Location: Paris, France
Date Deposited: 20 Nov 2008 08:15
License: [undefiniert]
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