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Sensors and Control Concept of Walking "Johnnie"

K. Löffler, M. Gienger, F. Pfeiffer
2003 The international journal of robotics research  
Dynamically stable walking on unstructured terrain and fast walking can only be achieved with an orientation sensor.  ...  The control system of the biped robot "Johnnie" is designed such that the orientation of the upper body is controlled throughout all phases of the gait pattern.  ...  Acknowledgment This project has been supported by the "Deutsche Forschungsgemeinschaft" within the priority program "Autonomous Walking".  ... 
doi:10.1177/0278364903022003007 fatcat:3pskv4n56rcernrmjpgicojkfi

The TUM walking machines

F. Pfeiffer
2007 Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences  
The control concepts are event-driven and follow logical rules, which have largely been transferred from neurobiological findings.  ...  This paper presents some aspects of walking machine design with a special emphasis on the three machines MAX, MORITZ and JOHNNIE, having been developed at the Technical University of Munich within the  ...  First, I thank the German Research Foundation (DFG) for subsidizing MAX by an individual grant and JOHNNIE within the framework of a Priority Programme.  ... 
doi:10.1098/rsta.2006.1922 pmid:17148052 fatcat:xlprhmhezzdj3bwesjollbjmyu

Walking: technology and biology

F. Pfeiffer, H. Inoue
2007 Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences  
Walking machines will influence all areas of daily and industrial life and, with the fast evolution of artificial intelligence, will become a real partner of human beings.  ...  With several university institutes and with Honda and Sony from the industrial side, Japan is today and without any doubt the leading nation in research and development of walking machines.  ...  In the meantime, walking robot technology made enormous progress including highly perfect mechanical systems, sensor and control concepts and astonishing advanced technologies, which at least are rather  ... 
doi:10.1098/rsta.2006.1918 pmid:17148046 fatcat:khrovdmzjrgadcnedn4zcr34aq

AIMEE: A Four-Legged Robot for RoboCup Rescue [chapter]

Martin Albrecht, Till Backhaus, Steffen Planthaber, Henning Stöpler, Dirk Spenneberg, Frank Kirchner
2006 Climbing and Walking Robots  
The bio-inspired control approach we use on AIMEE is based on Central Pattern Generators (CPG), posture-control primitives, and reflexmodels.  ...  The robot is described with regard to the mechanics which are based on a very modular construction kit, the electronics based on a custom-made MPC 565 microcontroller board, and a software concept using  ...  Mammal-Like Walking The bio-inspired control concept has been used to implement mammal-like walking.  ... 
doi:10.1007/3-540-26415-9_120 dblp:conf/clawar/AlbrechtBPSSK05 fatcat:hoxeujgvxrbezinfgi523qjzoi


2005 International Journal of Humanoid Robotics  
For the more robust walking control of the platform, we also designed the inertia sensor system. The inertia sensor system is composed of an accelerometer and a rate gyro [11] .  ...  The walking control algorithm of KHR-2 uses the attitude sensor actively, which was not there in KHR-1.  ... 
doi:10.1142/s0219843605000612 fatcat:5y5k4a3xajffnksxnmjwuxpgai

Mechanical design of the humanoid robot platform, HUBO

Ill-Woo Park, Jung-Yup Kim, Jungho Lee, Jun-Ho Oh
2007 Advanced Robotics  
The Korea Advanced Institute of Science and Technology (KAIST) humanoid robot -1 (KHR-1) was developed for the purpose of researching the walking action of bipeds.  ...  The second version of this humanoid robot, KHR-2, (which has 41 DOF) can walk on a living-room floor; it also moves and looks like a human.  ...  In particular, we seriously endeavored to match the shape of the joints and links with the art design concept, and we designed the joint controller, the motor drive, the battery, the sensors, and the main  ... 
doi:10.1163/156855307781503781 fatcat:yqa5r4vbzrc5nmtxvyamhxmx64


2008 Advances in Mobile Robotics  
Facing this challenge, this article presents a biomimetic bottom-up approach to use knowledge of biomechanical experiments on human walking and running, computer simulation and neuronal control concepts  ...  to sequentially design highly adaptable and compliant walking machines.  ...  The authors would like to appreciate Susanne Lipfert and our other collaborators for providing us the experimental results of human locomotion.  ... 
doi:10.1142/9789812835772_0076 fatcat:ll42yb3axbbvjdc3fcw6uuuqci

Огляд методів і підходів для планування траєкторії руху антропоморфного крокуючого апарата довільною опорною поверхнею із збереженням найбільшого запасу стійкості

Михайло Мартинович Ткач, Хальдун Арфааф, Дмитро Олександрович Гуменний
2016 Adaptivni Sistemi Avtomatičnogo Upravlinnâ  
In this paper presented a novel concept to solve the problem of finding the absolute position of foot of biped, in Cartesian coordinates with the largest stability margin, and then control the joint angles  ...  For that, we should have some different algorithms to achieved generation robot trajectory with stable walking and controlling balance in different error patterns.  ...  In other side in the work of Thomas Buschmann [3] presented a hierarchical system for real-time walking control. In experiments and modeling used Johnnie and Lola robots.  ... 
doi:10.20535/1560-8956.29.2016.92148 fatcat:dircjkiyvfewxcndjfdgz3mhna

Network-based Humanoid 'MAHRU' as Ubiquitous Robotic Companion

Bum-Jae You, Doik Kim, Changhwan Kim, Yong-Hwan Oh, Mun-Ho Jeong, Sang-Rok Oh
2008 IFAC Proceedings Volumes  
The other is for real-time data transmission of image data, voice data, and sensor data for motion control by wireless network to the external computer system.  ...  The humanoid can walk using two legs with the maximum speed of 0.9 Km/h.  ...  The internal control system controls motions of the robot, captures sensor information, and transmits the sensor data to an external computer system through wireless network.  ... 
doi:10.3182/20080706-5-kr-1001.00124 fatcat:puetcbywejbr7e55ukanjj4wvu

Development of a biped robot with torque controlled joints

Christian Ott, Christoph Baumgartner, Johannes Mayr, Matthias Fuchs, Robert Burger, Dongheui Lee, Oliver Eiberger, Alin Albu-Schaffer, Markus Grebenstein, Gerd Hirzinger
2010 2010 10th IEEE-RAS International Conference on Humanoid Robots  
This paper gives an overview of the development of a novel biped walking machine. The robot is designed as an experimental system for studying biped locomotion based on torque controlled joints.  ...  The relevant design choices for using this technology in a biped robot with integrated joint torque sensors are highlighted and some first experimental results using a conventional ZMP based control scheme  ...  The concept of the ZMP was utilized in the design and control of several impressive biped robots [3] , [4] , [5] , [6] .  ... 
doi:10.1109/ichr.2010.5686340 dblp:conf/humanoids/OttBMFBLEAGH10 fatcat:hjubashiyvar5boi3v3eexor5a

Toward Autonomous, Compliant, Omnidirectional Humanoid Robots for Natural Interaction in Real-Life Settings

François Michaud, François Ferland, Dominic Létourneau, Marc-Antoine Legault, Michel Lauria
2010 Paladyn: Journal of Behavioral Robotics  
We present Johnny-0's distinct contributions in simultaneously exploiting compliance at the locomotion level, in grounding reasoning and actions through behaviors, and in considering all possible factors  ...  This paper presents an overview of our attempt to integrate as a whole all three dimensions into a robot named Johnny-0.  ...  The concept we came up with is illustrated in Figure 1 and is named Johnny-0.  ... 
doi:10.2478/s13230-010-0003-3 fatcat:f5sz37aod5go5cszxrerdc7l54

Experiments on Embodied Cognition: A Bio-Inspired Approach for Robust Biped Locomotion [chapter]

Frank Kirchner, Sebastian Bartsch, Jose DeGe
2007 Humanoid Robots: New Developments  
Fig. 4 . 4 The control cycle for balance control. Fig. 5 . 5 Implementation of the low-level control concept on the humanoid robot.  ...  Our concept for locomotion is a combination of balance control, see figure 4 and posture behaviors, which should keep the robot balanced while walking or during external interferences.  ...  However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body.  ... 
doi:10.5772/4883 fatcat:v6yzlo6i3nch5jqf5b3zlzy5ii

Development of Biped Humanoid Robots at the Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology (KAIST) [chapter]

Ill-Woo Park, Jung-Yup Kim, Jungho Lee, Min-Su Kim, Baek-Kyu Cho, Jun-Ho Oh
2007 Humanoid Robots, Human-like Machines  
Electrical hardware, mechanical design, sensor technology and the walking algorithm are integrated in this robot for the realization of biped walking.  ...  Some of the well-known humanoid robots are Honda's humanoid robots, the WABIAN series of robots from Waseda University, Partner, QRIO, H6 and H7, HRP and JOHNNIE.  ...  In particular, strong efforts were made to match the shape of the joints and links with the art design concept, and the joint controller, the motor drive, the battery, the sensors, and the main controller  ... 
doi:10.5772/4797 fatcat:wghtfnzjjfdc3jrnxs3ba675fm

Adaptive, Fast Walking in a Biped Robot under Neuronal Control and Learning

Poramate Manoonpong, Tao Geng, Tomas Kulvicius, Bernd Porr, Florentin Wörgötter
2007 PLoS Computational Biology  
Human walking is a dynamic, partly self-stabilizing process relying on the interaction of the biomechanical design with its neuronal control.  ...  Citation: Manoonpong P, Geng T, Kulvicius T, Porr B, Wö rgö tter F (2007) Adaptive, fast walking in a biped robot under neuronal control and learning. PLoS Comput Biol 3(7): e134.  ...  Acknowledgments This research was supported by the PACO-PLUS project as well as by BMBF (Federal Ministry of Education and Research), BCCN (Bernstein Center for Computational Neuroscience)-Goettingen W3  ... 
doi:10.1371/journal.pcbi.0030134 pmid:17630828 pmcid:PMC1914373 fatcat:eqaeekyypnfpjixrgflrhspq7a

Design of a bipedal walking robot

Jerry Pratt, Ben Krupp, Grant R. Gerhart, Douglas W. Gage, Charles M. Shoemaker
2008 Unmanned Systems Technology X  
The walking and balance recovery controllers will use the concepts of Capture Points and the Capture Region in order to decide where to step.  ...  We present the mechanical design of a bipedal walking robot named M2V2, as well as control strategies to be implemented for walking and balance recovery.  ...  of Munich's Johnnie 29, 30 , Kawada/AIST HRP-2 31, 32 , and others.  ... 
doi:10.1117/12.777973 fatcat:npv4ernuhrbtriffhkwxmywfji
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