Computer system and control of biped "Johnnie"

Sebastian Lohmeier; Klaus Löffler; Michael Gienger; Heinz Ulbrich; Friedrich Pfeiffer

doi:10.1109/robot.2004.1308939

Computer system and control of biped "Johnnie"

Sebastian Lohmeier, Klaus Löffler, Michael Gienger, Heinz Ulbrich, Friedrich Pfeiffer

Chair of Applied Mechanics

Technical University of Munich

Research output: Contribution to journal › Conference article › peer-review

86 Scopus citations

Abstract

The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Besides accurate and fast sensors, a powerful computer system is essential for the performance and stability of the machine. The control system requires hard real-time capabilities and low cycle times. With our new control concept and the new computer system, walking speeds of 2.4 km/h have been achieved in experiments.

Original language	English
Pages (from-to)	4222-4227
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	4
DOIs	https://doi.org/10.1109/robot.2004.1308939
State	Published - 2004
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: 26 Apr 2004 → 1 May 2004

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10.1109/robot.2004.1308939

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AU - Lohmeier, Sebastian

AU - Löffler, Klaus

AU - Gienger, Michael

AU - Ulbrich, Heinz

AU - Pfeiffer, Friedrich

PY - 2004

Y1 - 2004

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DO - 10.1109/robot.2004.1308939

M3 - Conference article

AN - SCOPUS:3042583823

SN - 1050-4729

VL - 2004

SP - 4222

EP - 4227

JO - Proceedings - IEEE International Conference on Robotics and Automation

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T2 - Proceedings- 2004 IEEE International Conference on Robotics and Automation

Y2 - 26 April 2004 through 1 May 2004

ER -

Computer system and control of biped "Johnnie"

Abstract

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