Current Usage Reduction Through Stiffness Control in Humanoid Robot
نویسندگان
چکیده
In this study the current usage of each associated joint of a humanoid robot (NAO) during stand up process is analyzed. This study is the extension of our previous study [1] where the energy consumption of single and overall joints of a NAO robot during the walking process was researched while keeping the same stiffness values for all joints. This paper analyzes current stiffness relation of individual joints and effects of variable stiffness values of each joint during standing up. A simple algorithm to find desired current usage hence stiffness value for each joint is presented. Different stiffness values for each joint are adapted individually during a simple standing up process according to drawn current. Keywords— humanoid robot, motor stiffness, motor control, energy analysis
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