A Study of Energy-Saving Shoes for Robot Considering Lateral Plane Motion

A Study of Energy-Saving Shoes for Robot Considering Lateral Plane Motion

In this paper, we propose a flexible shoe system for biped robots to optimize energy consumption of the lateral plane motion. This shoe system is made to deform decline outside in the lateral plane and it can absorb the kinetic energy of the robot in the lateral plane. Furthermore, this hardware (sh...

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Veröffentlicht in:IEEE transactions on industrial electronics (1982) 2008-03, Vol.55 (3), p.1271-1276
Hauptverfasser: Minakata, H., Seki, H., Tadakuma, S.
Format: Artikel
Sprache:eng
Schlagworte:
Computer programs
Computer simulation
Control systems
Energy consumption
Foot
Footwear
Hardware
Humanoid robots
Kinetic energy
Legged locomotion
Medical robotics
motion control
Planes
Robots
Springs
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Zusammenfassung:In this paper, we propose a flexible shoe system for biped robots to optimize energy consumption of the lateral plane motion. This shoe system is made to deform decline outside in the lateral plane and it can absorb the kinetic energy of the robot in the lateral plane. Furthermore, this hardware (shoes) and software (controller) can be easily applicable to the ordinary walking robot system. The effectiveness and characteristics of this system are confirmed by computer simulations and experimental results. It is confirmed that the stiffness of the shoe is a very important parameter for energy consumption by using computer simulations and experimental results.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2007.911919