DocumentCode
3111332
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
Volume
4
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
4222
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1308939
Filename
1308939
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