Sensors and control concept of a biped robot
Loffler, K.
Gienger, M.
Pfeiffer, F.
Ulbrich, H.
Inst. for Appl. Mech., Tech. Univ. of Munich, Garching, Germany;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Oct. 2004
Volume: 51,
Issue: 5
On page(s): 972- 980
ISSN: 0278-0046
INSPEC Accession Number: 8135774
Digital Object Identifier: 10.1109/TIE.2004.834948
Current Version Published: 2004-10-04
Abstract
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.
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
