Biped Robot "ROTTO": Design, Simulation, Experiments

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 6Sprache: EnglischTyp: PDF

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Melnykov, A.; Konyev, M.; Palis, F. (Otto-von-Guericke-University Magdeburg, FEIT/IESY/RobotsLab, 39106 Magdeburg, Germany)
Schmucker, U. (Fraunhofer Institute for Factory Operation and Automation IFF, VE, 39106 Magdeburg, Germany)

The paper deals with designing and developing a biped robot for research purposes. Robot’s mechanical structure and drives system are described hereunder in details. Moreover the new modified actuators as well as the possibility to the stabilization of robot with serial elasticity in the joints are discussed. An industrial Ethernet-based real-time communication protocol is introduced and the communication ability between the robot-side hardware and PC-side control system is investigated.