Department of Computer Science CS Seminar Series

1. Balanced Walking and Rapid Movements in a Biped Robot by Using a Symmetric Rotor and a Brake Dr. Norbert Mayer University of Osaka Osaka, Japan This work deals with a biped robot that is stabilized by a fast rotating, symmetric, heavy object (rotor). The rotor is directly connected to the motor, no gearhead is used. The rotor is completely enclosed in a box and interacts with its environment completely by the means of inertia principles. We present a conceptual framework for the control of such a system, and test it with ODE simulations. The dynamics of a such a rotor is different from that of a non-rotating solid body, e.g. in the case of small disturbances it tends to keep the axes the same. This circumstance is used and tested. In addition, the rotor is used as a reaction wheel by using a brake mechanism. Results show that such a robot is able to stand up without additional aid of other actuators. Some simple theoretical considerations give the necessary specifications e.g. the weight of the respective robot to stand up. Also other possible types of rapid movements are discussed. At the end of the talk, Dr. Mayer will give an insight into life as a researcher in Japan. Dr. Mayer is a research associate at the University of Osaka, Japan. He was born in Germany and received his Ph.D. from the University of Freiburg, Germany. His research interests include various of robotics, especially humanoid robots. Dr. Mayer is also the chair of the RoboCup humanoid competition and was the team leader of team Senchans from Osaka University at RoboCup 2006. Department of Computer ScienceCS Seminar Series Monday, 8th of August, 1 pm,500A Machray Hall