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The bidped walking machine


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Title The bidped walking machine
Author Deutsches Zentrum für Luft- und Raumfahrt (DLR)
License No Open Access License:
German copyright law applies. This film may be used for your own use but it may not be distributed via the internet or passed on to external parties.
DOI 10.5446/12797
Publisher Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Release Date 2011
Language English

Content Metadata

Subject Area Engineering
Abstract The biped walking machine developed at DLR is based on the reliable technology of the torque controlled DLR lightweight arms. Based on the modular drive technology with integrated joint sensing and electronics, the design of a biped experimental system was possible with a minimum development time of about 10 month. The developed system utilizes link side joint torque sensors in combination with electrical actuators and harmonic drive gears. In addition to position and force controlled approaches, this system therefore allows for a detailed study of joint torque based control concepts for biped balancing and walking. In particular, the applicability of compliant impedance control, as developed for manipulation tasks with the DLR lightweight arms, to biped locomotion shall be analyzed.
Keywords robotics
uh you have to do motion and all that the walking
machine was constructed based on the technologies of are lightweight arms from the hit to to the need we were able to
directly employed modules of the deal are most puts it the a loss to
set up in the shortest possible time to link walking machine as an experimental platform that would give us the possibility to test bipedal walking and gave stabilization of the Red on the right there could saying since we used to well-established drive technology Of the deal arms as a bases the development of the whole system was possible within a short time only 10
months on on game machine this special feature of all walking
machine is the use of integrated joint talks a good man as we have learned from our previous research experience of manipulation of
these users and now the implementation of highly
sensitive and impedance control usually state of the art bipedal talking robots are billed
as very stiff systems in all walking machine just like
in are and we have included works and the we explicitly want
to use this technology for generating by walking algorithms which incorporate compline behavior he impact foot touches the ground up what you see here how a human commands a robot in an
effective way up the robot
reacts to simple gestures which is a very intuitive way to command the robot probably
much easier than using a joystick a small were similar last month this works with a hidden
Markov based gesture recognition cope with these output Of the gesture recognition that provides the command to the command
on the command initiates emotion primitive like for example a step forward that warehouses this is
primarily a research project allows to learn how
technical walking works the future application of this research is calls the promotion of humanoid robot 1 can imagine that a service robots used the household for example it would need to be able to move freely in house therefore the robot will have to be able to step Over small obstacles to climb up and down stairs and so on the construction of complete humanoid robots which could carry out of town house in household is a big challenge for robotic
research and definitely includes by locomotion as 1 of its core problems arrears issue here is vast and game our pass
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