Development and Control of a Modular Biped Walking Machine

Description

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.

Period	03 May 2012
Event title	Austrian Robotics Workshop 2012
Event type	Conference
Location	AustriaShow on map