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Sensor and control design of a dynamically stable biped robot

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3 Author(s)
K. Loffler ; Inst. for Appl. Mech., Technische Univ. of Munich, Garching, Germany ; M. Gienger ; F. Pfeiffer

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 3D-orientation sensor and the 6-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 2.0 km/h have been achieved in experiments.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:1 )

Date of Conference:

14-19 Sept. 2003