Sensor- und Regelungskonzept der zweibeinigen Laufmaschine JOHNNIE

Translated title of the contribution: Sensor and control concept of biped JOHNNIE

S. Lohmeier, K. Löffler, H. Ulbrich, F. Pfeiffer

Research output: Contribution to journalReview articlepeer-review

Abstract

In the following, we give an overview of the technological aspects based on the experiences with the development of the biped JOHNNIE. The objectives are to realize a three-dimensional dynamically stable motion on even and uneven ground and around curves. The control scheme of the anthropomorphic biped robot JOHNNIE is based on a comprehensive mechanical model, in order to perform a dynamically stable motion, the robot is equipped with a comprehensive set of sensors that allow to determine the complete state of the system. With our new control concept and the new computer system, stable walking can be realized with up to 2.4 km/h and step lengths of 55cm.

Translated title of the contributionSensor and control concept of biped JOHNNIE
Original languageGerman
Pages (from-to)109-116
Number of pages8
JournalVDI Berichte
Issue number1841
StatePublished - 2004
Externally publishedYes

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