Johannes Mayr, Bernhard Oberhuber, Hubert Gattringer, Hartmut Bremer,
"Development and Control of a Modular Biped Walking Machine"
, in Gerald Steinbauer and Suzana Uran: Proceedings of the Austrian Robotics Workshop 2012, Verlag der Technischen Universität Graz, Graz, Seite(n) 8-16, 5-2012, ISBN: 978-3-85125-183-8
Original Titel:
Development and Control of a Modular Biped Walking Machine
Sprache des Titels:
Englisch
Original Buchtitel:
Proceedings of the Austrian Robotics Workshop 2012
Original Kurzfassung:
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.
Forschungs-