Wahl09  |
| BibTeX Type: | inproceedings |
| Category: | walking_machines |
| Author*: | T. Wahl and S. Blank and T. Luksch and K. Berns |
| Title*: | Biological Motivated Control Architecture and Mechatronics for a Humanlike Robot |
| Booktitle*: | Advances in Robotics Research - Theory, Implementation, Application |
| Year*: | 2009 |
| Pages: | pp. 179-190 |
| Editor: | T. Kroeger and F.M. Wahl |
| Address: | Braunschweig Germany |
| Month: | June |
| Publisher: | Springer |
| Agrosy Keywords: | walking_machines |
| Abstract: | In this paper a biological inspired control architecture for bipedal robots
is presented. This architecture features a hierarchical distributed reflex based high
level controller as well as the possibility to adjust the compliants of a stiff actuated
joint. Furthermore the respective mechatronical setup for that approach is presented,
that includes the actuation and energy storage in parallel springs. This architectural
approach is verified on a prototype leg mounted on a vertical slider, that is capable
of performing a cyclic squat jump. The reflex based control concept is tested in a
physics simulation environment. The experimental validation shows that no series
elastic elements are required to receive compareable results with respect to the resulting
motion. The low level stiffness controller is implemented on a DSP-board
and tested using an experimental setup with two motors. |
| * marks obligatory BibTeX fields |
BibTeX Entry:
@inproceedings{Wahl09,
author = {T. Wahl and S. Blank and T. Luksch and K. Berns},
title = {Biological Motivated Control Architecture and Mechatronics for a Humanlike Robot},
booktitle = {Advances in Robotics Research - Theory, Implementation, Application},
year = {2009},
pages = {pp. 179-190},
editor = {T. Kroeger and F.M. Wahl},
address = {Braunschweig Germany},
month = {June},
publisher = {Springer},
keyword_list = {walking_machines},
}
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