Development and Control of a Modular Biped Walking Machine

Beschreibung

This paper presents the development of a biped walking ma- chine. As actuators only modular industrial components are used to allow low development time and costs and high flexibility in structural changes. A feed-forward control scheme for overactuated robots with unilateral contacts to the environment by ground reaction force minimization is discussed and applied to the robot to evaluate precedent simulations.

Zeitraum	03 Mai 2012
Ereignistitel	Austrian Robotics Workshop 2012
Veranstaltungstyp	Konferenz
Ort	ÖsterreichAuf Karte anzeigen