Sensors and control concept of a biped robot

Klaus Löffler, Michael Gienger, Friedrich Pfeiffer, Heinz Ulbrich

Research output: Contribution to journalArticlepeer-review

97 Scopus citations

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 languageEnglish
Pages (from-to)972-980
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Volume51
Issue number5
DOIs
StatePublished - Oct 2004

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