QUT ePrints

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.

[img] Published Version (PDF 285kB)
Administrators only | Request a copy from author

View at publisher

Abstract

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.

Impact and interest:

0 citations in Web of Science®
Search Google Scholar™

Citation counts are sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

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 01:07
Last Modified: 10 Aug 2011 15:07

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page