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Development of a biped robot with torque controlled joints | IEEE Conference Publication | IEEE Xplore

Development of a biped robot with torque controlled joints


Abstract:

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 t...Show More

Abstract:

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. As an underlying drive technology, the torque controlled joint units of the DLR-KUKA-Lightweight-Robot are employed. 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 are discussed.
Date of Conference: 06-08 December 2010
Date Added to IEEE Xplore: 13 January 2011
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Conference Location: Nashville, TN, USA

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