Sensor and Control Aspects of Biped Robot "JOHNNIE"
Sensor and Control Aspects of Biped Robot "JOHNNIE"
复制标题
双足机器人“JOHNNIE”的传感器和控制方面
DOI：
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发表时间：
2004
期刊：
影响因子：
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通讯作者：
H. Ulbrich
中科院分区：
文献类型：
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作者：
F. Pfeiffer;K. Löffler;M. Gienger;H. Ulbrich
双足机器人“Johnnie”旨在实现动态稳定的步态模式，从而实现高步行速度。为机器开发了非常精确和快速的传感器。特别是三维方位传感器和六维力-力矩传感器的设计。控制方案是基于这些传感器的信息来处理非结构化地形和干扰。两种不同的实现方式进行了研究：计算扭矩的方法和自适应轨迹的轨迹控制。在实验中已经实现了2.2 km/h的步行速度。
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 3D-orientation sensor and the 6-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 2.2 km/h have been achieved in experiments.