Sensor system and trajectory control of a biped robot

Author

Lohmeier, Sebastian ; Loeffler, Klaus ; Gienger, Michael ; Ulbrich, Heinz ; Pfeiffer, Friedrich

Author_Institution

Inst. for Appl. Mech., Tech. Univ. of Munich, Garching, Germany

fYear

2004

fDate

25-28 March 2004

Firstpage

393

Lastpage

398

Abstract

The development of walking machines comprises nearly all important technical areas due to the interdisciplinary character of these robots. 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 55 cm.

Keywords

force sensors; legged locomotion; microcomputer applications; motion control; position control; 55 cm; anthropomorphic biped robot; biped JOHNNIE; dynamically stable motion; sensor system; stable walking; trajectory control; walking machines; Anthropomorphism; Control systems; Force sensors; Gears; Joints; Legged locomotion; Pulse width modulation; Robot sensing systems; Robotic assembly; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on

Print_ISBN

0-7803-8300-1

Type

conf

DOI

10.1109/AMC.2004.1297901

Filename

1297901