Title :
Model based control of a biped robot
Author :
Löffler, Klaus ; Gienger, Michael ; Pfeiffer, Friedrich
Author_Institution :
Inst. of Appl. Mech., Technische Univ. Munchen, Garching, Germany
Abstract :
The control scheme of the anthropomorphic biped robot "Johnnie" is based on a comprehensive mechanical model. In order to perform a dynamically stable motion, the robot is equipped with a comprehensive set of sensors that allow to determine the complete state of the system. Since there are still unknown parameters in a real environment, a method is presented to adapt the trajectories in case of major disturbances. A mapping scheme allows to control the orientation of the upper body throughout all phases of the gait pattern. Furthermore, a sophisticated measurement and control of the foot torques has been implemented.
Keywords :
control system synthesis; gait analysis; legged locomotion; model reference adaptive control systems; stability; torque control; uncertain systems; Johnnie anthropomorphic biped robot; biped robot model based control; disturbances; dynamically stable motion; foot torques; gait pattern; unknown parameters; Foot; Force measurement; Force sensors; Leg; Legged locomotion; Position measurement; Robot sensing systems; Sensor systems; Torque control; Torque measurement;
Conference_Titel :
Advanced Motion Control, 2002. 7th International Workshop on
Print_ISBN :
0-7803-7479-7
DOI :
10.1109/AMC.2002.1026961
