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humanoid_walking_speed [2018/02/04 18:30]
yuhanghe [Research into Maximum Walking Speed]
humanoid_walking_speed [2018/02/04 18:44] (current)
yuhanghe [Research into Maximum Walking Speed]
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 To improve the walking speed for Robotis OP2, I conducted some initial research into theoretical maximum walking speed. Because humanoid locomotion algorithm is still a popular research area, there are limited resources on maximum walking speed for humanoid robots. Therefore, I began my research by looking into maximum walking speed for human. In the paper, "​Walking and Running: Legs and leg movements are subtly adapted to minimize the energycosts of locomotion,"​ R. McNeill Alexander proposed to model human walking algorithm with inverted pendulum. Using kinematics, Alexander proposed that maximum walking speed is limited by length of legs through this equation, V_max = sqrt(g*L) (g is the gravitational acceleration on Earth and L being length of leg). After applying this equation to calculate maximum speed for Robotis OP2, the length of robot'​s leg being 21.95 cm, the result is 146.74 cm/s.  To improve the walking speed for Robotis OP2, I conducted some initial research into theoretical maximum walking speed. Because humanoid locomotion algorithm is still a popular research area, there are limited resources on maximum walking speed for humanoid robots. Therefore, I began my research by looking into maximum walking speed for human. In the paper, "​Walking and Running: Legs and leg movements are subtly adapted to minimize the energycosts of locomotion,"​ R. McNeill Alexander proposed to model human walking algorithm with inverted pendulum. Using kinematics, Alexander proposed that maximum walking speed is limited by length of legs through this equation, V_max = sqrt(g*L) (g is the gravitational acceleration on Earth and L being length of leg). After applying this equation to calculate maximum speed for Robotis OP2, the length of robot'​s leg being 21.95 cm, the result is 146.74 cm/s. 
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 +Both the current and world record in HuroCup for walking speed is significantly lower than theoretical maximum speed. ​
  
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humanoid_walking_speed.txt ยท Last modified: 2018/02/04 18:44 by yuhanghe