TY - GEN
T1 - Development of a biped robot with torque controlled joints
AU - Ott, Christian
AU - Baumgärtner, Christoph
AU - Mayr, Johannes
AU - Fuchs, Matthias
AU - Burger, Robert
AU - Lee, Dongheui
AU - Eiberger, Oliver
AU - Albu-Schäffer, Alin
AU - Grebenstein, Markus
AU - Hirzinger, Gerd
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=79851475663&partnerID=8YFLogxK
U2 - 10.1109/ICHR.2010.5686340
DO - 10.1109/ICHR.2010.5686340
M3 - Conference contribution
AN - SCOPUS:79851475663
SN - 9781424486885
T3 - 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
SP - 167
EP - 173
BT - 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
T2 - 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
Y2 - 6 December 2010 through 8 December 2010
ER -