Abstract
When a humanoid robot walks with pace, different joints face different requirements of speed and torque. This paper shows how to estimate the requirements for three heavily loaded joints: one in the knee and two in the hips. The dynamics of the walking robot is modeled as that of a 3-mass linear inverted pendulum (3-mass LIPM). The 3-mass LIPM is the simplest model that requires considering effects of internal forces and torques dues to swinging masses. The calculations show that the three joints test the characteristics of standard servo motors in different ways, and their requirements can be individually modulated by changing the gait pattern and the robot design.
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References
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Bugmann, G. (2015). Joint Torques and Velocities in a 3-mass Linear Inverted Pendulum Model of Bipedal Gait. In: Dixon, C., Tuyls, K. (eds) Towards Autonomous Robotic Systems. TAROS 2015. Lecture Notes in Computer Science(), vol 9287. Springer, Cham. https://doi.org/10.1007/978-3-319-22416-9_10
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DOI: https://doi.org/10.1007/978-3-319-22416-9_10
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Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22415-2
Online ISBN: 978-3-319-22416-9
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