The Yobotics-IHMC Lower Body Humanoid Robot

The Yobotics-IHMC Lower Body Humanoid Robot

This video highlights work to date on the Yobotics-IHMC lower body humanoid robot. The robot is a twelve degree-of-freedom robot with force controllable series elastic actuators at each degree of freedom. Control algorithms utilize virtual model control, and foot placement is determined using captur...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Pratt, J.E., Krupp, B., Ragusila, V., Rebula, J., Koolen, T., van Nieuwenhuizen, N., Shake, C., Craig, T., Taylor, J., Watkins, G., Neuhaus, P., Johnson, M., Shooter, S., Buffinton, K., Canas, F., Carff, J., Howell, W.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Actuators
Biological system modeling
Foot
Force control
Humanoid robots
Leg
Legged locomotion
Robot control
Robotic assembly
Robustness
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Beschreibung
Zusammenfassung:This video highlights work to date on the Yobotics-IHMC lower body humanoid robot. The robot is a twelve degree-of-freedom robot with force controllable series elastic actuators at each degree of freedom. Control algorithms utilize virtual model control, and foot placement is determined using capture regions. The robot can recover from moderate disturbances and walk on flat ground. Ongoing work is focused on improving robustness to disturbances, walking more quickly and efficiently, and walking over rough terrain.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2009.5354430