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http://dx.doi.org/10.5391/JKIIS.2010.20.6.793

Low-Power Walking Compensation Method for Biped Robot Based on Consumption Energy Analysis  

Lee, Chang-Seok (한경대학교 바이오.정보기술 대학원)
Na, Doo-Young (한경대학교 바이오.정보기술 대학원)
Kim, Yong-Tae (한경대학교 정보제어공학과, IT융합기술연구소)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.6, 2010 , pp. 793-798 More about this Journal
Abstract
In this paper we propose a low-power walking compensation method for biped robot based on consumption energy analysis. Firstly, basic walking motions that can reduce energy consumption of robot movements are implemented based on consumption energy analysis according to robot axes. We define knee bent motion as a basic walking motion. It can improve energy consumption and motion stability by lowering center of gravity of the biped robot. We analyze consumption energy of left and right leg of the robot using motor currents and propose a compensation method of walking motions to reduce unbalance of consumption energy between left leg and right leg. It can also improve energy consumption and walking stability of the robot. The proposed low-power compensation method based on consumption energy analysis is verified by walking experiments of a small biped robot with an embedded system.
Keywords
Biped robot; energy consumption analysis; low-power walking; walking stabilization;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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