Title :
The concept of jogging JOHNNIE
Author :
Pfeiffer, F. ; Löffler, K. ; Gienger, M.
Author_Institution :
Inst. of Appl. Mech., Tech. Univ. of Munich, Garching, Germany
Abstract :
Within the large variety of existing and still newly emerging biped walking machines Jogging JOHNNIE represents a fundamental study on fast walking and on especially adapted foot-dynamics. Air phases are possible with two feet lifted off the ground. Each foot possesses six degrees of freedom with respect to the body and additionally seven degrees of freedom within the local foot environment. The overall system includes 23 degrees of freedom. It is 1.80 m, large and weighs 40 kg. Up to now stable walking has been achieved
Keywords :
legged locomotion; mobile robots; simulation; Jogging JOHNNIE; air phases; emerging biped walking machines; local foot environment; stable walking; Actuators; Anthropomorphism; Biomedical equipment; Foot; Humans; Knee; Legged locomotion; Medical robotics; Medical services; Robot sensing systems;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013708
