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Sensors and control concept of a biped robot

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4 Author(s)
K. Loffler ; Inst. for Appl. Mech., Tech. Univ. of Munich, Garching, Germany ; M. Gienger ; F. Pfeiffer ; H. Ulbrich

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:

IEEE Transactions on Industrial Electronics  (Volume:51 ,  Issue: 5 )