Design of a bipedal walking robot

Pratt, Jerry; Krupp, Ben

doi:10.1117/12.777973

Cited by 82 publications

(36 citation statements)

References 36 publications

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“…Now given τ andτ from (26), the motor side states θ andθ can be computed using (6). Through solving (7) forθ and substituting it into (6), differentiated twice, yield:…”

Section: B Inverse Dynamics: Single Supportmentioning

confidence: 99%

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Trajectory optimization for walking robots with series elastic actuators

Werner¹,

Lampariello²,

Ott³

2014

53rd IEEE Conference on Decision and Control

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Series elastic actuators are a promising feature for future walking robots. Utilizing the natural oscillation of the elastic actuation can lead to efficient locomotion. However finding a matching combination of joint stiffness and actuator input is challenging as these robots share the properties of underactuated and hybrid dynamic systems. In this paper an optimization problem for cyclic walking of a robot with series elastic actuators is formulated and a flatness based solution method is presented. The method efficiently generates trajectories which exploit the actuator capabilities while respecting all limitations of the system. Additionally the relevant aspects of the trajectories for the design of a flexible robot are discussed.

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“…Now given τ andτ from (26), the motor side states θ andθ can be computed using (6). Through solving (7) forθ and substituting it into (6), differentiated twice, yield:…”

Section: B Inverse Dynamics: Single Supportmentioning

confidence: 99%

“…Earlier research focused on rigid-body robots [3], but since then, several elastic systems using legged locomotion have been developed [4]- [6].…”

Section: Introductionmentioning

confidence: 99%

Trajectory optimization for walking robots with series elastic actuators

Werner¹,

Lampariello²,

Ott³

2014

53rd IEEE Conference on Decision and Control

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“…For example, the computing technique of HRI and navigation is largely solved problem with methods suitable for applications and advanced topics open to research. [7] …”

Section: Human-robot Interactionmentioning

confidence: 99%

Emerging Aspects of Robotics Technology

Khan¹,

Mateen²

2011

IJCA

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There are high hopes that the planet will be full of robotics based computing machines. Robotics is based upon the philosophy of real time computing system that will work everywhere and new world come in place. Hard core areas which are under research in the domain of robotics is the handling with computational complexity and efficient responses to real time events for robot like machines. In this research paper computing application used in advance robotics have been presented and analyzed in a frame work of computational theory and domain of computing in general. Also the future trend that the advance robotics wills suffer is discussed.

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“…Here, the torque is measured and indirectly controlled via measurement and regulation of the spring deflection. Some examples of this group of robots are IHMC's M2V2 [29], ETH's StarlETH robot [30], the biped robot Hume [31] from the Human Centered Robotics lab and IIT's COMAN robot [32]. One advantage of series elastic actuators is their mechanical robustness and their shock absorption capabilities (e.g.…”

Section: Introductionmentioning

confidence: 99%

Overview of the torque-controlled humanoid robot TORO

Englsberger

Werner

Ott

et al. 2014

2014 IEEE-RAS International Conference on Humanoid Robots

225

121

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Fig. 1: The torque-controlled humanoid robot TORO and its development stages from 2010 (DLR Biped [1]) to 2014.Abstract-This paper gives an overview on the torquecontrolled humanoid robot TORO, which has evolved from the former DLR Biped. In particular, we describe its mechanical design and dimensioning, its sensors, electronics and computer hardware. Additionally, we give a short introduction to the walking and multi-contact balancing strategies used for TORO.

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Design of a bipedal walking robot

Cited by 82 publications

References 36 publications

Trajectory optimization for walking robots with series elastic actuators

Trajectory optimization for walking robots with series elastic actuators

Emerging Aspects of Robotics Technology

Overview of the torque-controlled humanoid robot TORO

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