NDLI: Efficient human-like walking for the compliant huMANoid COMAN based on linematic Motion Primitives (kMPs)

Content Provider	IEEE Xplore Digital Library
Author	Moro, F.L. Tsagarakis, N.G. Caldwell, D.G.
Copyright Year	2012
Description	Author affiliation: Department od Advanced Robotics, Istituto Italiano di Tecnologia (IIT), via Morego, 30, 16163 Genova, Italy (Moro, F.L.; Tsagarakis, N.G.; Caldwell, D.G.)
Abstract	Research in humanoid robotics in recent years has led to significant advances in terms of the ability to walk and even run. Yet, despite the general achievements in locomotion and control, energy efficiency is still one important area that requires further attention, especially as it is one of the major steeping stones leading to increased autonomy. This paper examines, and quantifies, the energetic benefits of introducing passive compliance into bipedal locomotion using COMAN, an intrinsically COmpliant huMANoid robot. The novelty of the method proposed consists of: i) the use of a method of gait synthesis based on kinematic Motion Primitives (kMPs) extracted from human, ii) the frequency tuning of the resultant trajectories, to excite the physical elasticity of the system, and the subsequent analysis of the energetic performance of the robot. The motivation is to assess the possible effects of using dynamic human-like, and human derived, trajectories, with significant Center of Mass (CoM) vertical displacement, regulated in frequency around the frequency band of the system resonances, on the excitation of the compliant actuators, and subsequently to measure and verify any energetic benefit. Experimental results show that if the gait frequency is close to one of the main resonant frequencies of the robot, then the total work contribution of the elastic compliant element to the overall motion of the robot is positive (15% of the work required is generated by the springs).
Starting Page	2007
Ending Page	2014
File Size	1600114
Page Count	8
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224847
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Trajectory Joints Resonant frequency Humans Kinematics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A human-like walking for the COmpliant huMANoid COMAN based on CoM trajectory reconstruction from kinematic Motion Primitives

Walking trajectory generation for humanoid robots with compliant joints: Experimentation with COMAN humanoid

Efficient human-like walking for the compliant humanoid coman based on kinematic motion primitives (kmps).

COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control

Making feasible walking motion of humanoid robots from human motion capture data

Realization of Biped Walking in Unstructured Environment Using Motion Primitives

Physical interaction between human and a bipedal humanoid robot-realization of human-follow walking

From compliant balancing to dynamic walking on humanoid robot: Integration of CNS and CPG

Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing

Efficient human-like walking for the compliant huMANoid COMAN based on linematic Motion Primitives (kMPs)

Similar Documents

A human-like walking for the COmpliant huMANoid COMAN based on CoM trajectory reconstruction from kinematic Motion Primitives

Walking trajectory generation for humanoid robots with compliant joints: Experimentation with COMAN humanoid

Efficient human-like walking for the compliant humanoid coman based on kinematic motion primitives (kmps).

COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control

Making feasible walking motion of humanoid robots from human motion capture data

Realization of Biped Walking in Unstructured Environment Using Motion Primitives

Physical interaction between human and a bipedal humanoid robot-realization of human-follow walking

From compliant balancing to dynamic walking on humanoid robot: Integration of CNS and CPG

Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing

Efficient human-like walking for the compliant huMANoid COMAN based on linematic Motion Primitives (kMPs)