Optimizing Energy Usage through Variable Joint Stiffness Control during Humanoid Robot Walking

摘要

The objective of this paper and our current research is to optimize energy usage in a humanoid robot during diverse tasks such as basic walking by dynamically controlling individual joint stiffness. In the current work we analyze individual and total usage of current, voltage and power in a NAO V4 humanoid robot joints during short walks around a circle at different speeds and under varying control of joint stiffness. We perform experimental studies to understand the main factors affecting power consumption and energy usage and look at ways to improve overall energy usage. We describe experiments and corresponding results. We discuss the state of advancement of our research.