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 three-dimensional-orientation sensor and the six-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 2.4 km/h have been achieved in experiments.
Original language | English |
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Pages (from-to) | 972-980 |
Number of pages | 9 |
Journal | IEEE Transactions on Industrial Electronics |
Volume | 51 |
Issue number | 5 |
DOIs | |
State | Published - Oct 2004 |