Research and development towards an autonomous biped walking robot

Author

Wollherr, Dirk ; Buss, Martin ; Hardt, Michael ; Von Stryk, Oskar

Author_Institution

Control Syst. Group, Tech. Univ. of Berlin, Germany

Volume

2

fYear

2003

fDate

20-24 July 2003

Firstpage

968

Abstract

Methods for modeling, simulation and optimization of the dynamics, stability, and performance of humanoid robots are presented in this paper. Optimal control trajectory following by joint-level control combined with an online compensation method using Jacobians is proposed. The kinematic design, dynamic properties, hard- and software architecture for an autonomous biped, and experimental results are presented.

Keywords

control system synthesis; legged locomotion; online operation; optimal control; optimisation; position control; robot dynamics; robot kinematics; software architecture; Jacobians; autonomous biped walking robot; dynamic properties; hardware architecture; humanoid robots; joint level control; kinematic design; modeling; online compensation method; optimal control trajectory; optimization; research and development; simulation; software architecture; stability; Algorithm design and analysis; Equations; Force control; Humanoid robots; Jacobian matrices; Legged locomotion; Motion control; Optimal control; Research and development; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225473

Filename

1225473