Sensors and control concept of a biped robot

Klaus Löffler; Michael Gienger; Friedrich Pfeiffer; Heinz Ulbrich

doi:10.1109/TIE.2004.834948

Sensors and control concept of a biped robot

Klaus Löffler
, Michael Gienger
, Friedrich Pfeiffer
, Heinz Ulbrich

Chair of Applied Mechanics

Research output: Contribution to journal › Article › peer-review

99 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 language	English
Pages (from-to)	972-980
Number of pages	9
Journal	IEEE Transactions on Industrial Electronics
Volume	51
Issue number	5
DOIs	https://doi.org/10.1109/TIE.2004.834948
State	Published - Oct 2004

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10.1109/TIE.2004.834948

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title = "Sensors and control concept of a biped robot",

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.",

author = "Klaus L{\"o}ffler and Michael Gienger and Friedrich Pfeiffer and Heinz Ulbrich",

note = "Funding Information: Manuscript received November 4, 2002; revised January 22, 2004. Abstract published on the Internet July 15, 2004. This work was supported by the “Deutsche Forschungsgemeinschaft” within the priority program “Autonomous Walking.” This paper was presented at the IEEE 7th International Workshop on Advanced Motion Control, Maribor, Slovenia, July 3–5, 2002.",

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AU - Pfeiffer, Friedrich

AU - Ulbrich, Heinz

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AB - 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.

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Sensors and control concept of a biped robot

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