Development of a biped robot with torque controlled joints

Christian Ott, Christoph Baumgärtner, Johannes Mayr, Matthias Fuchs, Robert Burger, Dongheui Lee, Oliver Eiberger, Alin Albu-Schäffer, Markus Grebenstein, Gerd Hirzinger

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

70 Scopus citations

Abstract

This paper gives an overview of the development of a novel biped walking machine. The robot is designed as an experimental system for studying biped locomotion based on torque controlled joints. As an underlying drive technology, the torque controlled joint units of the DLR-KUKA-Lightweight-Robot are employed. The relevant design choices for using this technology in a biped robot with integrated joint torque sensors are highlighted and some first experimental results using a conventional ZMP based control scheme are discussed.

Original languageEnglish
Title of host publication2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
Pages167-173
Number of pages7
DOIs
StatePublished - 2010
Externally publishedYes
Event2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 - Nashville, TN, United States
Duration: 6 Dec 20108 Dec 2010

Publication series

Name2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

Conference

Conference2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
Country/TerritoryUnited States
CityNashville, TN
Period6/12/108/12/10

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