The Yobotics-IHMC lower body humanoid robot
Authors: 
Jerry E. Pratt, Ben Krupp, Victor Ragusila, John Rebula, Twan Koolen, Niels van Nieuwenhuizen, Chris Shake, Travis Craig, John Taylor, Greg Watkins, Peter Neuhaus, Matthew Johnson, Steve Shooter, Keith Buffinton, Fabian Canas, John Carff, William HowellAuthors Info & Claims
Jerry E. Pratt, Ben Krupp, Victor Ragusila, John Rebula, Twan Koolen, Niels van Nieuwenhuizen, Chris Shake, Travis Craig, John Taylor, Greg Watkins, Peter Neuhaus, Matthew Johnson, Steve Shooter, Keith Buffinton, Fabian Canas, John Carff, William HowellAuthors Info & ClaimsIROS'09: Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Pages 410 - 411
Abstract
This video highlights work to date on the Yobotics-IHMC Lower Body Humanoid Robot. The robot is a twelve degree-of-freedom robot with force controllable Series Elastic Actuators at each degree of freedom. Control algorithms utilize Virtual Model Control, and foot placement is determined using Capture Regions. The robot can recover from moderate disturbances and walk on flat ground. Ongoing work is focused on improving robustness to disturbances, walking more quickly and efficiently, and walking over rough terrain.
References
[1]
Jerry Pratt and Ben Krupp, "Design of a bipedal walking robot", Proceedings of the 2008 SPIE, Volume 69621F.
[2]
Gill Pratt, Matthew Williamson, Peter Dilworth, Jerry Pratt, Karsten Ulland, Anne Wright, "Stiffness Isn't Everything", Fourth International Symposium on Experimental Robotics, ISER, 1995.
[3]
Jerry Pratt. Exploiting Inherent Robustness and Natural Dynamics in the Control of Bipedal Walking Robots. PhD thesis, Computer Science Department, Massachusetts Institute of Technology, 2000.
[4]
Jerry Pratt and Russ Tedrake. "Velocity Based Stability Margins for Fast Bipedal Walking." First Ruperto Carola Symposium in the International Science Forum of the University of Heidelberg entitled "Fast Motions in Biomechanics and Robots", Heidelberg Germany, September 7-9, 2005.
[5]
Jerry Pratt, John Carff, Sergey Drakunov, and Ambarish Goswami, "Capture Point: A Step toward Humanoid Push Recovery", Proceedings of the 2006 IEEE-RAS International Conference on Humanoid Robots, December 4-6, 2006, Genoa, Italy, pp. 200-207.
[6]
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kazuhito Yokoi, and Hirohisa Hirukawa. "The 3d linear inverted pendulum mode: a simple modeling for a biped walking pattern generation", IEEE International Conference on Intelligent Robots and Systems (IROS), 2001, pp. 239- 246
- The Yobotics-IHMC lower body humanoid robot
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Published In
October 2009
5973 pages
ISBN:9781424438037
Sponsors
- SICE: Society of Instrument and Control Engineers
- RA: IEEE Robotics and Automation Society
- ICROS: Institute of Control, Robotics and Systems in Korea
Publisher
IEEE Press
Publication History
Published: 10 October 2009
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