The Yobotics-IHMC Lower Body Humanoid Robot

Author

Pratt, Jerry E. ; Krupp, Ben ; Ragusila, Victor ; Rebula, John ; Koolen, Twan ; Van Nieuwenhuizen, Niels ; Shake, Chris ; Craig, Travis ; Taylor, John ; Watkins, Greg ; Neuhaus, Peter ; Johnson, Matthew ; Shooter, Steve ; Buffinton, Keith ; Canas, Fabian

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

410

Lastpage

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.

Keywords

actuators; force control; humanoid robots; legged locomotion; robust control; Yobotics-IHMC lower body humanoid robot; capture region; degree-of-freedom robot; foot placement; force controllable series elastic actuator; robot walking; robustness; rough terrain; virtual model control; Actuators; Biological system modeling; Foot; Force control; Humanoid robots; Leg; Legged locomotion; Robot control; Robotic assembly; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354430

Filename

5354430