This paper dtwribes the sensing components of LAU-RON 11. To manage the complex task of walking machincl control several sensors are integrated in the control ;irchit,ecture of the robot. The most sophisticated scnsnr-system is the light weight stereo head of LAU-R O N 11. The head is designed as a universal platform to test, different, kinds of sensors for obstacle detection. For c.xample the construction allows to mount ultrasonic transducers or infrared-based distance sensors. Usually is it used with two grayscale cameras and a line laser to detect obstacles. The change of shape of thc. projected line in the camera pictures is measured and distances of obstacles can be determined Keywords: Walking Machine, Stereo Head, Sensing 0-7803-41 60-0-7/97 $1 0.00 0 1997 IEEE
This paper presents the design of a four-legged walking machine with a versatile leg construction. It offers the possibilty to investigate reptile-and mammal-like walking with only one mechanical realization. A flexible spinal will support walking with better stability. For the control of the machine, a hierarchical organized control hardware will be used, which has been very successful on our ohter walking machines.
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