The Yobotics-IHMC Lower Body Humanoid Robot

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 captur...

Full description

Saved in:
Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 410 - 411
Main Authors Pratt, J.E., Krupp, B., Ragusila, V., Rebula, J., Koolen, T., van Nieuwenhuizen, N., Shake, C., Craig, T., Taylor, J., Watkins, G., Neuhaus, P., Johnson, M., Shooter, S., Buffinton, K., Canas, F., Carff, J., Howell, W.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Actuators
Biological system modeling
Foot
Force control
Humanoid robots
Leg
Legged locomotion
Robot control
Robotic assembly
Robustness
Online AccessGet full text
ISBN9781424438037
1424438039
ISSN2153-0858
DOI10.1109/IROS.2009.5354430

Cover

More Information
Summary: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.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5354430