Biped Walking Robot
For the study of bipedal locomotion an human like experimental prototype was designed and is now used for the evaluation and design of new control algorithms and as a setup to investigate basic human machine interaction methods. The research is mainly focused on the generation of stable walking patterns and algorithms for stabilizing the robot around them. This gives the robot the ability to walk in the presence of unknown parameters as an unknown environment, unknown perturbations or uncertain kinetic values. An other research topic in this field is footstep planning for bipedal robots to allow autonomous navigation under the presence of unknown obstacles.

Technical data:

• Mass: 53 kg
• Height: 1.65 m
• Amount of Axes: 14 d.o.f. (6 d.o.f. per leg, 1 d.o.f. per arm)
• Sensors: Force/Torque Sensors in the ankles, Inertial Measurement Unit (IMU) in the upper body
• Perception: Microsoft Kinect
• Control System: RTAI Linux with ROS
• Maximal Walking Speed: 1km/hour