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Actuator selection and hardware realization of a small and fast-moving autonomous humanoid robot

Wollherr, D. and Hardt, Michael and Buss, M. and Stryk, Oskar von (2002):
Actuator selection and hardware realization of a small and fast-moving autonomous humanoid robot.
Piscataway, NJ, IEEE Service Center, In: Proc. 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Lausanne, Switzerland, In: 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, [Online-Edition: https://ieeexplore.ieee.org/document/1041643?arnumber=104164...],
[Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2002
Creators: Wollherr, D. and Hardt, Michael and Buss, M. and Stryk, Oskar von
Title: Actuator selection and hardware realization of a small and fast-moving autonomous humanoid robot
Language: English
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.

Series Name: 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
Place of Publication: Piscataway, NJ
Publisher: IEEE Service Center
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: Proc. 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)
Event Location: Lausanne, Switzerland
Date Deposited: 20 Nov 2008 08:15
Official URL: https://ieeexplore.ieee.org/document/1041643?arnumber=104164...
License: [undefiniert]
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