A Minimalistic Approach to Humanoids
نویسندگان
چکیده
In this work, we present a design principle for building humanoid walking that puts emphasis on minimal control, minimal actuation, and minimal energy use in the design. This results in humanoid robots that are easier to develop and much cheaper to produce. We achieve this by utilising springs and the oscillatory motion of pendulums, e.g. the pendulums (or arms) create a 3D dynamic force profile, which leads to walk because of the properties of the robot’s body and legs’ design. We illustrate the design principle with the implementation of a few, cheap LEGO humanoid robot prototypes.
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تاریخ انتشار 2001