The International Journal of Robotics Research

 

Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Click here to register and gain free access

SAGETRACK

Sign In to gain access to subscriptions and/or personal tools.
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via HighWire
Right arrow Citing Articles via Google Scholar
Google Scholar
Right arrow Articles by Löffler, K.
Right arrow Articles by Pfeiffer, F.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati  
What's this?
The International Journal of Robotics Research, Vol. 22, No. 3-4, 229-239 (2003)
DOI: 10.1177/0278364903022003007

Sensors and Control Concept of Walking "Johnnie"

K. Löffler

Institute of Applied Mechanics Technical University of Munich Boltzmannstr. 15, 85747 Garching, Germany loeffler{at}amm.mw.tu-muenchen.de

M. Gienger

Institute of Applied Mechanics Technical University of Munich Boltzmannstr. 15, 85747 Garching, Germany loeffler{at}amm.mw.tu-muenchen.de

F. Pfeiffer

Institute of Applied Mechanics Technical University of Munich Boltzmannstr. 15, 85747 Garching, Germany loeffler{at}amm.mw.tu-muenchen.de

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.

Key Words: sensors • biped robot • control • dynamic stability • walking


Add to CiteULike CiteULike   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati    What's this?


This article has been cited by other articles:


Home page
 The International Journal of Robotics ResearchHome page
G. Bessonnet, P. Seguin, and P. Sardain
A Parametric Optimization Approach to Walking Pattern Synthesis
The International Journal of Robotics Research, July 1, 2005; 24(7): 523 - 536.
[Abstract] [PDF]

Home page
 The International Journal of Robotics ResearchHome page
S. Miossec and Y. Aoustin
A Simplified Stability Study for a Biped Walk with Underactuated and Overactuated Phases
The International Journal of Robotics Research, July 1, 2005; 24(7): 537 - 551.
[Abstract] [PDF]