The TUM walking machines
The TUM walking machines
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TUM 步行机
DOI：
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发表时间：
2007
期刊：
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通讯作者：
F. Pfeiffer
中科院分区：
文献类型：
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作者：
F. Pfeiffer
本文介绍了步行机设计的一些方面，特别强调了在过去20年中在慕尼黑工业大学开发的三台机器MAX、莫里茨和JOHNNIE。这种机器的设计讨论作为一个迭代过程，改善布局与每一次迭代。控制概念是事件驱动的，遵循逻辑规则，这在很大程度上是从神经生物学的发现转移。至少对于六条腿的机器MAX来说，可以实现近乎完美的自主性，而对于JONGJOHNNIE来说，可以通过具有适当决策算法的视觉系统来实现一定程度的自主性。该视觉系统是由G.施密特，慕尼黑。本文详细介绍了该系统的设计与实现。
This paper presents some aspects of walking machine design with a special emphasis on the three machines MAX, MORITZ and JOHNNIE, having been developed at the Technical University of Munich within the last 20 years. The design of such machines is discussed as an iterative process improving the layout with every iteration. The control concepts are event-driven and follow logical rules, which have largely been transferred from neurobiological findings. At least for the six-legged machine MAX, a nearly perfect autonomy could be achieved, whereas for the biped JOHNNIE, a certain degree of autonomy could be realized by a vision system with appropriate decision algorithms. This vision system was developed by the group of Prof. G. Schmidt, TU-München. A more detailed description of the design and realization is presented for the biped JOHNNIE.