Sensors and control concept of a biped robot
Loffler, K.; Gienger, M.; Pfeiffer, F.; Ulbrich, H.
Industrial Electronics, IEEE Transactions on
Volume 51, Issue 5, Oct. 2004 Page(s): 972 - 980
Digital Object Identifier   10.1109/TIE.2004.834948
Summary: The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Very accurate and fast sensors were developed for the machine. In particular, the design of the three-dimensional-orientation sensor and the six-axes force-torque sensor are presented. The control scheme is based on the information from these sensors to deal with unstructured terrain and disturbances. Two different implementations are investigated: a computed torque approach and a trajectory control with adaptive trajectories. Walking speeds of 2.4 km/h have been achieved in experiments.

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