A Study on Motion Energy of Humanoid Robot in Different Walking Gaits or Postures

Tu, Kuo-Yang; Lin, Pohsu; Peng, Chun-Chi

doi:10.1007/978-3-319-16841-8_29

Kuo-Yang Tu⁷,
Pohsu Lin⁸ &
Chun-Chi Peng⁹

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 345))

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Abstract

It is worthy to study the motion energy of humanoid robots, but it is not easy to calculate for their complicated dynamics. In this study, the trajectories of voltage and current used in walking are stored to calculate actual motion energy for comparing the humanoid robot in different walking gait. Four walking gaits, covering the situation of humanoid robot walking are selected to compare their motion energy. After sorting the walking gait of wasting least motion energy based on experiments, we focus on the study of motion energy influenced by walking gait parameters including pace length, pace height and body location. In addition, a proper experiment is designed to study the energy wasted by humanoid robot join friction. The energy is compared with the walking energy to understand whether it is reasonable that the humanoid robot dynamics often neglect friction force or not.

This research was supported by National Science Council, Taiwan, Rep. of China under grant NSC 101-2221-E-327-023-.

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References

HONDA-ASIMO, http://asimo.honda.com/
https://www.facebook.com/groups/hurocup/
RoboCup, http://www.robocup.org/

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Author information

Authors and Affiliations

Institute of Electrical Engineering, National Kaohsiung First University of Science & Technology, 2 Jouyue Road, Nantsu, 811, Kaohsiung City, Taiwan, R. O. C.
Kuo-Yang Tu
MitraStar Technology Corporation, HsinChu, Taiwan, R. O. C.
Pohsu Lin
Industrial Technology Research Institute, Hsinchu, Taiwan, R. O. C.
Chun-Chi Peng

Authors

Kuo-Yang Tu
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Pohsu Lin
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Chun-Chi Peng
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Corresponding author

Correspondence to Kuo-Yang Tu .

Editor information

Editors and Affiliations

Div. Electrical Engineering, Korea Advanced Institute of Science & Technology (KAIST), Daejeon, Korea, Republic of (South Korea)
Jong-Hwan Kim
College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing, China
Weimin Yang
School of Information and Communication Technology, Griffith University, Gold Coast, Australia
Jun Jo
Center for Intelligent Technologies, Technical University of Kosice, Kosice, Slovakia
Peter Sincak
Civil and Environmental Engg., KAIST, Daejeon, Korea, Republic of (South Korea)
Hyun Myung

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Tu, KY., Lin, P., Peng, CC. (2015). A Study on Motion Energy of Humanoid Robot in Different Walking Gaits or Postures. In: Kim, JH., Yang, W., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, vol 345. Springer, Cham. https://doi.org/10.1007/978-3-319-16841-8_29

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DOI: https://doi.org/10.1007/978-3-319-16841-8_29
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-16840-1
Online ISBN: 978-3-319-16841-8
eBook Packages: EngineeringEngineering (R0)

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