Biomimetic Energy-Based Humanoid Gait Design
One of the challenges facing humanoid robots is the design of a more human-like gait. In this paper, we propose a new paradigm for gait design for humanoids that is founded in the field of Kinesiology and is based on energy-exchange between potential and kinetic energies. Additionally, we propose an...
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| Veröffentlicht in: | Journal of intelligent & robotic systems 2020-10, Vol.100 (1), p.203-221 |
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| container_title | Journal of intelligent & robotic systems |
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| creator | Maalouf, Noel Elhajj, Imad H. Shammas, Elie Asmar, Daniel |
| description | One of the challenges facing humanoid robots is the design of a more human-like gait. In this paper, we propose a new paradigm for gait design for humanoids that is founded in the field of Kinesiology and is based on energy-exchange between potential and kinetic energies. Additionally, we propose an energy-based controller, which not only maintains the desired gait but is also more efficient than current controllers in terms of energy expenditure and joint motor torque exertion. Experiments were performed in simulation on Webots and on an actual humanoid platform, the Nao. Results indicate an improvement in mechanical energy consumption by 10% in simulations, and 1.8% on the Nao. Qualitatively, the proposed gait yielded motions that are more human-like. |
| doi_str_mv | 10.1007/s10846-020-01179-z |
| format | Article |
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| subjects | Artificial Intelligence Biomimetics Control Electrical Engineering Energy consumption Engineering Force and energy Gait Humanoid Mechanical Engineering Mechatronics Robotics Robots Torque exertion, Ergonomic |
| title | Biomimetic Energy-Based Humanoid Gait Design |
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