Sensors and control concept of a biped robot

The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Very accurate and fast sensors were developed for the machine. In particular, the design of the three-dimensional-orientation sensor and the six-axes force-torque senso...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2004-10, Vol.51 (5), p.972-980
Main Authors: Loffler, K., Gienger, M., Pfeiffer, F., Ulbrich, H.
Format: Article
Language:English
Subjects:
Adaptive control systems
Disturbances
Force sensors
Humans
Industrial electronics
Legged locomotion
Microcontrollers
Motion control
Robot sensing systems
Robotic assembly
Robotics and automation
Robots
Sensor systems
Sensors
Terrain
Torque control
Trajectory control
Walking
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Summary:The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Very accurate and fast sensors were developed for the machine. In particular, the design of the three-dimensional-orientation sensor and the six-axes force-torque sensor are presented. The control scheme is based on the information from these sensors to deal with unstructured terrain and disturbances. Two different implementations are investigated: a computed torque approach and a trajectory control with adaptive trajectories. Walking speeds of 2.4 km/h have been achieved in experiments.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2004.834948