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Distributed control of gait for a humanoid robot

Wyeth, Gordon & Kee, Damien (2004) Distributed control of gait for a humanoid robot. In Polani, Daniel, Browning, Brett, Bonarini, Andrea, & Yoshida, Kazuo (Eds.) RoboCup 2003 : Robot Soccer World Cup VII. Springer Berlin / Heidelberg, pp. 703-711.

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    This paper describes a walking gait for a humanoid robot with a distributed control system. The motion for the robot is calculated in real time on a central controller, and sent over CAN bus to the distributed control system. The distributed control system loosely follows the motion patterns from the central controller, while also acting to maintain stability and balance. There is no global feedback control system; the system maintains its balance by the interaction between central gait and soft control of the actuators. The paper illustrates a straight line walking gait and shows the interaction between gait generation and the control system. The analysis of the data shows that successful walking can be achieved without maintaining strict local joint control, and without explicit global balance coordination.

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    ID Code: 37289
    Item Type: Book Chapter
    DOI: 10.1007/978-3-540-25940-4_69
    ISBN: 9783540224433
    ISSN: 0302-9743
    Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
    Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
    Past > Schools > School of Engineering Systems
    Copyright Owner: Copyright 2004 Springer Verlag Berlin Heidelberg
    Deposited On: 28 Sep 2010 11:07
    Last Modified: 11 Aug 2011 01:07

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