Abstract
Many biped robots deploy a form of gait that follows the zero moment point (ZMP) approach, that is, the robot is in a stable position at any point in time. This requires the robot to be fully actuated. While very stable, the draw-backs of this approach are a fairly slow gait and high energy consumption. An alternative approach is the so-called passive-dynamic walking, where the gait makes use of the inertia and dynamic stability of the robot. In this paper we describe our ongoing work of combining the principles of passive-dynamic walking on the fully-actuated biped robot Nao, which is also deployed for robotic soccer applications. We present a simple controller that allows the robot to stably rock sidewards, showing a closed limit-cycle. We discuss first results of superimposing a forward motion on the sidewards motion. Based on this we expect to endow the Nao with a fast, robust, and stable passive-dynamic walk on the fully-actuated Nao in the future.
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Priede, G., Ferrein, A. (2013). Towards Passive Walking for the Fully-Actuated Biped Robot Nao. In: Sobh, T., Elleithy, K. (eds) Emerging Trends in Computing, Informatics, Systems Sciences, and Engineering. Lecture Notes in Electrical Engineering, vol 151. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-3558-7_18
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DOI: https://doi.org/10.1007/978-1-4614-3558-7_18
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