Title :
Research and development towards an autonomous biped walking robot
Author :
Wollherr, Dirk ; Buss, Martin ; Hardt, Michael ; Von Stryk, Oskar
Author_Institution :
Control Syst. Group, Tech. Univ. of Berlin, Germany
Abstract :
Methods for modeling, simulation and optimization of the dynamics, stability, and performance of humanoid robots are presented in this paper. Optimal control trajectory following by joint-level control combined with an online compensation method using Jacobians is proposed. The kinematic design, dynamic properties, hard- and software architecture for an autonomous biped, and experimental results are presented.
Keywords :
control system synthesis; legged locomotion; online operation; optimal control; optimisation; position control; robot dynamics; robot kinematics; software architecture; Jacobians; autonomous biped walking robot; dynamic properties; hardware architecture; humanoid robots; joint level control; kinematic design; modeling; online compensation method; optimal control trajectory; optimization; research and development; simulation; software architecture; stability; Algorithm design and analysis; Equations; Force control; Humanoid robots; Jacobian matrices; Legged locomotion; Motion control; Optimal control; Research and development; Robot kinematics;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225473
