Actuator selection and hardware realization of a small and fast-moving, autonomous humanoid robot
نویسندگان
چکیده
This paper discusses the design concept and system development of a small and relatively fast walking, autonomous humanoid robot with 17 degrees-offreedom (DoF). The selection of motor size and gear ratios is based on numerical optimization of detailed multibody dynamics and optimal control corresponding to fast steps of the robot with an envisioned target speed of more than 0.5m/s. In this paper the design considerations based on numerical optimal control studies and the mechanical realization of the robot are presented including first investigations on the achievable performance of a decentralized, microcontrollerbased control architecture.
منابع مشابه
Mechatronic Hand Design with Integrated Mechanism in Palm for Efficiency Improve of the Finger.
One of the most important case in humanoid robot designing is hand, which it consider as an country development. High percentage of robot work quality depend on hand capability. A robot function increase with hand movement. One of important movement in artificial hand capability relate to fingers lateral movement. This case has more effect intake of special objects such as round shape or moving...
متن کاملVersatile, High-Quality Motions and Behavior Control of a Humanoid Soccer Robot
Autonomous soccer games represent an extraordinary challenge for autonomous humanoid robots which must act fast and stable while carrying all needed onboard computers, sensors and batteries. In this paper, the development and system integration of hardware and software modules of the 55 cm tall, autonomous humanoid soccer robot Bruno is described to cope with this challenge. Altough based on a ...
متن کاملEfficient Walking Speed Optimization of a Humanoid Robot
The development of optimized motions of humanoid robots that guarantee a fast and also stable walking is an important task especially in the context of autonomous soccer playing robots in RoboCup. We present a walking motion optimization approach for the humanoid robot prototype HR18 which is equipped with a low dimensional parameterized walking trajectory generator, joint motor controller and ...
متن کاملHardware-in-the-Loop Optimization of the Walking Speed of a Humanoid Robot
The development of optimized motions of humanoid robots that guarantee a fast and also stable walking is an important task especially in the context of autonomous soccer playing robots in RoboCup. We present a walking motion optimization approach for the humanoid robot prototype HR18 which is equipped with a low dimensional parameterized walking trajectory generator, joint motor controller and ...
متن کاملDesign of an Autonomous Fast-Walking Humanoid Robot
The design considerations for a small, relatively fast walking, autonomous humanoid robot are presented. The robot must be energy efficient but also produce sufficient torque to reach greater speeds. On the basis of previous investigations into gait optimization for multilegged systems, dynamical modeling and nonlinear optimization tools are used for design optimization and choosing the motor s...
متن کامل