Abstract
The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Very accurate and fast sensors were developed for the machine. In particular the design of the 3D-orientation sensor and the 6-axes force-torque sensor are presented. The control scheme is based on the information from these sensors to deal with unstructured terrain and disturbances. Two different implementations are investigated: a computed torque approach and a trajectory control with adaptive trajectories. Walking speeds of 2.2 km/h have been achieved in experiments.
| Original language | English |
|---|---|
| Pages (from-to) | 481-496 |
| Number of pages | 16 |
| Journal | International Journal of Humanoid Robotics |
| Volume | 1 |
| Issue number | 3 |
| DOIs | |
| State | Published - 1 Sep 2004 |
Keywords
- Biped robot
- sensors
- walking control