December 6-8, 2010, Sheraton Nashville Downtown, Nashville, TN

Humanoids 2010 Paper Abstract


Paper  MA-II .22

Ott, Christian (German Aerospace Center (DLR)), Baumgärtner, Christoph (German Aerospace Center (DLR)), Mayr, Johannes (German Aerospace Center (DLR)), Fuchs, Matthias (German Aerospace Center), Burger, Robert (German Aerospace Center), Lee, Dongheui (Technical University of Munich), Eiberger, Oliver (DLR - German Aerospace Center), Albu-Schäffer, Alin (DLR - German Aerospace Center), Grebenstein, Markus (German Aerospace Center (DLR)), Hirzinger, Gerd (German Aerospace Center (DLR))

Development of a Biped Robot with Torque Controlled Joints

Scheduled for presentation during the Interactive "Interactive Session I" ( MA-II ), Monday, December 6, 2010, 11:10−12:10, Ballroom 2/3

2010 IEEE-RAS International Conference on Humanoid Robots, December 6-8, 2010, Sheraton Nashville Downtown, Nashville, TN, USA

This information is tentative and subject to change. Compiled on March 31, 2015

Keywords Biped Systems, Design and Mechanism, Hardware and Components


This paper gives an overview of the development of a novel biped walking machine. The robot is designed as an experimental system for studying biped locomotion based on torque controlled joints. As an underlying drive technology, the torque controlled joint units of the DLR-KUKA-Lightweight-Robot are employed. The relevant design choices for using this technology in a biped robot with integrated joint torque sensors are highlighted and some first experimental results using a conventional ZMP based control scheme are discussed.



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