Title:Development and Control of a Modular Biped Walking MachineAuthor(s):Johannes Mayr, Bernhard Oberhuber, Hubert Gattringer, Hartmut BremerAbstract: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.Booktitle:Proceedings of the Austrian Robotics Workshop 2012Publisher:Verlag der Technischen Universität GrazEditor(s):Gerald Steinbauer and Suzana UranISBN:978-3-85125-183-8Page Reference:page 8-16, 9 page(s)Publishing:5/2012