Referenced Items are not available for this document.
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.
Published in:
Industrial Electronics, IEEE Transactions on
(Volume:51
,
Issue:
5
)
Date of Publication: Oct. 2004
- Page(s):
- 972 - 980
- ISSN :
- 0278-0046
- INSPEC Accession Number:
- 8135774
- Digital Object Identifier :
- 10.1109/TIE.2004.834948
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 04 October 2004
- Issue Date :
- Oct. 2004
- Sponsored by :
- IEEE Industrial Electronics Society
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