Title :
Computer system and control of biped "Johnnie"
Author :
Lohmeier, Sebastian ; Löffler, Klaus ; Gienger, Michael ; Ulbrich, Heinz ; Pfeiffer, Friedrich
Author_Institution :
Inst. for Appl. Mech., Tech. Univ. of Munich, Garching, Germany
fDate :
April 26-May 1, 2004
Abstract :
The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Besides accurate and fast sensors, a powerful computer system is essential for the performance and stability of the machine. The control system requires hard real-time capabilities and low cycle times. With our new control concept and the new computer system, walking speeds of 2.4 km/h have been achieved in experiments.
Keywords :
computerised control; gait analysis; legged locomotion; position control; stability; 2.4 km/h; Johnnie robot; biped control; biped robot; computer system; computerised control; dynamically stable gait pattern; fast sensors; machine stability; position control; robot walking velocity; torque control; Control systems; Gravity; Joints; Legged locomotion; Real time systems; Robot kinematics; Robot sensing systems; Robotic assembly; Sensor systems; Stability;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308939
