Development and Control of a Modular Biped Walking Machine
Sprache des Vortragstitels:
Austrian Robotics Workshop 2012
Sprache des Tagungstitel:
This paper presents the development of a biped walking ma-
chine. As actuators only modular industrial components are used to allow
low development time and costs and high flexibility in structural changes.
A feed-forward control scheme for overactuated robots with unilateral
contacts to the environment by ground reaction force minimization is
discussed and applied to the robot to evaluate precedent simulations.