Sensors and Control Concept of Walking “Johnnie”
- 1 March 2003
- journal article
- other
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 22 (3-4) , 229-239
- https://doi.org/10.1177/0278364903022003007
Abstract
One key problem to achieve a dynamically stable walking motion with biped robots is to measure and control the actual state of the robot with respect to its environment. Dynamically stable walking on unstructured terrain and fast walking can only be achieved with an orientation sensor. The control system of the biped robot “Johnnie” is designed such that the orientation of the upper body is controlled throughout all phases of the gait pattern. Furthermore, a sophisticated measurement and control of the foot torques has been implemented. In this way, the interaction forces and torques between robot and environment are controlled and tilting of the foot is avoided.Keywords
This publication has 6 references indexed in Scilit:
- The concept of jogging JOHNNIEPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Towards the design of a biped jogging robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Dynamically-Stable Motion Planning for Humanoid RobotsAutonomous Robots, 2002
- Control of a biped jogging robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2000
- The Tum-Walking MachineIntelligent Automation and Soft Computing, 1995
- Biped LocomotionPublished by Springer Nature ,1990