Distributed control of gait for a humanoid robot
Contribuinte(s) |
Polani, Daniel Browning, Brett Bonarini, Andrea Yoshida, Kazuo |
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Data(s) |
2004
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Resumo |
This paper describes a walking gait for a humanoid robot with a distributed control system. The motion for the robot is calculated in real time on a central controller, and sent over CAN bus to the distributed control system. The distributed control system loosely follows the motion patterns from the central controller, while also acting to maintain stability and balance. There is no global feedback control system; the system maintains its balance by the interaction between central gait and soft control of the actuators. The paper illustrates a straight line walking gait and shows the interaction between gait generation and the control system. The analysis of the data shows that successful walking can be achieved without maintaining strict local joint control, and without explicit global balance coordination. |
Formato |
application/pdf |
Identificador | |
Publicador |
Springer Berlin / Heidelberg |
Relação |
http://eprints.qut.edu.au/37289/1/c37289.pdf DOI:10.1007/978-3-540-25940-4_69 Wyeth, Gordon & Kee, Damien (2004) Distributed control of gait for a humanoid robot. In Polani, Daniel, Browning, Brett, Bonarini, Andrea, & Yoshida, Kazuo (Eds.) RoboCup 2003 : Robot Soccer World Cup VII. Springer Berlin / Heidelberg, pp. 703-711. |
Direitos |
Copyright 2004 Springer Verlag Berlin Heidelberg |
Fonte |
Faculty of Built Environment and Engineering; School of Engineering Systems |
Palavras-Chave | #080101 Adaptive Agents and Intelligent Robotics |
Tipo |
Book Chapter |