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Research and Development Towards an Autonomous Biped Walking Robot

Wollherr, D. and Buss, M. and Hardt, M. and Stryk, Oskar von (2003):
Research and Development Towards an Autonomous Biped Walking Robot.
In: Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM2003, Kobe, Japan, In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003), 20-24 July 2003, ISBN 0-7803-7759-1,
DOI: 10.1109/AIM.2003.1225473,
[Online-Edition: http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=1225...],
[Conference or Workshop Item]

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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.

Item Type: Conference or Workshop Item
Erschienen: 2003
Creators: Wollherr, D. and Buss, M. and Hardt, M. and Stryk, Oskar von
Title: Research and Development Towards an Autonomous Biped Walking Robot
Language: English
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.

Title of Book: Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM2003
Place of Publication: Kobe, Japan
ISBN: 0-7803-7759-1
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003)
Event Dates: 20-24 July 2003
Date Deposited: 24 Jun 2019 13:05
DOI: 10.1109/AIM.2003.1225473
Official URL: http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=1225...
Identification Number: wollherr:aim03
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