TY - GEN
T1 - Experiments in fast biped walking
AU - Buschmann, Thomas
AU - Favot, Valerio
AU - Lohmeier, Sebastian
AU - Schwienbacher, Markus
AU - Ulbrich, Heinz
PY - 2011
Y1 - 2011
N2 - In this paper we present work on fast biped walking. We give an overview of our real-time planning and control system and present experimental results of the robot Lola walking at 3.34 km/h. The basic control approach is based on real-time trajectory planning using a reduced robot model and a stabilizing controller that manipulates the contact forces. Unique features of the system include the real-time method for planning center of gravity trajectories using spline collocation, the stabilizing controller which is based on hybrid position/force control and the use of redundancy resolution to decrease joint speeds.
AB - In this paper we present work on fast biped walking. We give an overview of our real-time planning and control system and present experimental results of the robot Lola walking at 3.34 km/h. The basic control approach is based on real-time trajectory planning using a reduced robot model and a stabilizing controller that manipulates the contact forces. Unique features of the system include the real-time method for planning center of gravity trajectories using spline collocation, the stabilizing controller which is based on hybrid position/force control and the use of redundancy resolution to decrease joint speeds.
UR - http://www.scopus.com/inward/record.url?scp=80052156787&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2011.5971235
DO - 10.1109/ICMECH.2011.5971235
M3 - Conference contribution
AN - SCOPUS:80052156787
SN - 9781612849836
T3 - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
SP - 863
EP - 868
BT - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
T2 - 2011 IEEE International Conference on Mechatronics, ICM 2011
Y2 - 13 April 2011 through 15 April 2011
ER -