Abstract
This paper describes an approach to controlling redundant biped robots. A hierarchichal control system generates biped walking in real-time from simple high-level commands. The stabilizing control compensates modelling errors and external forces and allows the robot to walk over uneven terrain. Both the required joint speeds and the risk of slipping are minimized by exploiting redundant degrees of freedom. We also briefly describe our biped robot Lola used in the experimental results outlined at the end of the article.
| Translated title of the contribution | Walking control for redundant humanoid robots-A model-based approach |
|---|---|
| Original language | German |
| Pages (from-to) | 673-681 |
| Number of pages | 9 |
| Journal | At-Automatisierungstechnik |
| Volume | 60 |
| Issue number | 11 |
| DOIs | |
| State | Published - 2012 |