Wollherr, D. ; Buss, M. ; Hardt, M. ; Stryk, Oskar von (2003)
Research and Development Towards an Autonomous Biped Walking Robot.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003). Kobe, Japan (20-24 July 2003)
doi: 10.1109/AIM.2003.1225473
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
Methods for modeling, simulation and optimization of the dynamics, stability, and performance of humanoid robots are presented in this paper. Optimal control trajectory following by joint-level control combined with an online compensation method using Jacobians is proposed. The kinematic design, dynamic properties, hard- and software architecture for an autonomous biped, and experimental results are presented.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2003 |
| Autor(en): | Wollherr, D. ; Buss, M. ; Hardt, M. ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Research and Development Towards an Autonomous Biped Walking Robot |
| Sprache: | Englisch |
| Publikationsjahr: | Juli 2003 |
| Ort: | Kobe, Japan |
| Buchtitel: | Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM2003 |
| Veranstaltungstitel: | IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003) |
| Veranstaltungsort: | Kobe, Japan |
| Veranstaltungsdatum: | 20-24 July 2003 |
| DOI: | 10.1109/AIM.2003.1225473 |
| URL / URN: | http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=1225... |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Methods for modeling, simulation and optimization of the dynamics, stability, and performance of humanoid robots are presented in this paper. Optimal control trajectory following by joint-level control combined with an online compensation method using Jacobians is proposed. The kinematic design, dynamic properties, hard- and software architecture for an autonomous biped, and experimental results are presented. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 24 Jun 2019 13:05 |
| Letzte Änderung: | 25 Jan 2024 10:00 |
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