Wollherr, D. ; Hardt, Michael ; Buss, M. ; Stryk, Oskar von (2002)
Actuator selection and hardware realization of a small and fast-moving autonomous humanoid robot.
Proc. 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). Lausanne, Switzerland
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
This paper discusses the design concept and system development of a small and relatively fast walking, autonomous humanoid robot with 17 degrees-offreedom (DoF). The selection of motor size and gear ratios is based on numerical optimization of detailed multibody dynamics and optimal control corresponding to fast steps of the robot with an envisioned target speed of more than 0.5m/s. In this paper the design considerations based on numerical optimal control studies and the mechanical realization of the robot are presented including first investigations on the achievable performance of a decentralized, microcontrollerbased control architecture.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2002 |
| Autor(en): | Wollherr, D. ; Hardt, Michael ; Buss, M. ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Actuator selection and hardware realization of a small and fast-moving autonomous humanoid robot |
| Sprache: | Englisch |
| Publikationsjahr: | 1 Oktober 2002 |
| Ort: | Piscataway, NJ |
| Verlag: | IEEE Service Center |
| Reihe: | International Conference on Intelligent Robots and Systems <2002, Lausanne>: Proceedings ...; Vol. 3.- Piscataway, NJ: IEEE Service Center, 2002.- ISBN 0-7803-7398-7.- S. 2491-2496 |
| Veranstaltungstitel: | Proc. 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) |
| Veranstaltungsort: | Lausanne, Switzerland |
| URL / URN: | https://ieeexplore.ieee.org/document/1041643?arnumber=104164... |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | This paper discusses the design concept and system development of a small and relatively fast walking, autonomous humanoid robot with 17 degrees-offreedom (DoF). The selection of motor size and gear ratios is based on numerical optimization of detailed multibody dynamics and optimal control corresponding to fast steps of the robot with an envisioned target speed of more than 0.5m/s. In this paper the design considerations based on numerical optimal control studies and the mechanical realization of the robot are presented including first investigations on the achievable performance of a decentralized, microcontrollerbased control architecture. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 20 Nov 2008 08:15 |
| Letzte Änderung: | 16 Mai 2019 09:41 |
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