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
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;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933265
