DocumentCode
3235725
Title
Towards the design of a biped jogging robot
Author
Gienger, M. ; Loffler, K. ; Pfeiffer, F.
Author_Institution
Inst. B of Mech., Tech. Univ. of Munich, Garching, Germany
Volume
4
fYear
2001
fDate
2001
Firstpage
4140
Abstract
Deals with the design and control of an anthropomorphic autonomous biped robot. The objective is to realize a dynamically stable, three-dimensional walking and jogging motion. The design, sensors and electronics of the robot are introduced. Particular emphasis has been devoted to achieving a high power-to-weight ratio. The corresponding methods for weight reduction are presented. The control scheme is discussed. It is based on the method of feedback linearization employing the equations of motion of the system.
Keywords
actuators; feedback; legged locomotion; linearisation techniques; stability; anthropomorphic autonomous biped robot; biped jogging robot; control scheme; dynamically stable three-dimensional motion; equations of motion; feedback linearization; high power-to-weight ratio; legged locomotion; sensors; walking; weight reduction; Actuators; Foot; Hip; Humans; Knee; Leg; Legged locomotion; Pelvis; Robot kinematics; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933265
Filename
933265
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