Flexible Structure and Wheeled Feet to Simplify Biped Locomotion of Humanoid Robots

被引:17
|
作者
Muscolo, Giovanni Gerardo [1 ]
Recchiuto, Carmine Tommaso [2 ]
机构
[1] Humanot Srl, Creat & Visionary Design Lab, Via Elvezia 19-6, I-16100 Genoa, Italy
[2] Humanot Srl, Electroinformat Lab, Via Elvezia 19-6, I-16100 Genoa, Italy
关键词
Compliant legs; humanoid robots; biped locomotion; wheeled feet; flexible structure;
D O I
10.1142/S0219843616500304
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
The paper presents a creative design approach focused at simplifying the control of biped humanoid robots locomotion in a domestic scenario. The creative design approach is the result of intensive studies aimed at optimizing dynamic balance ZMP-based control on fully-actuated biped platforms. The innovative solution proposed in this paper is applied to the realization of a novel humanoid robot, ROLLO, which is based on the implementation of a passive flexible structure constituting the robotic legs, and of wheeled feet. The unconventional use of the cylindrical helical springs in the flexible structure of the legs allows obtaining a biped robot able to achieve an alternate leg motion having only two active motors and remaining in a standing position also when the motors are not active.
引用
收藏
页数:26
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