Design and Control Aspects of Humanoid Walking Robots
This dissertation discusses the development of a humanoid biped robot from the planning stage to biped walking focusing on low level control. Concepts in hardware design, posture manipulation, and hybrid joint control, that are novel in humanoid robotics, are presented and entirely verified in hardware experiments. Decisive for the future performance of the robot is a careful selection of an appropriate motor-gear combination during hardware design.
A systematic procedure for actuator selection based on optimal control is discussed. When replaying precalculated trajectories with a humanoid robot, adaptation to new situations is often required. This task can be accomplished by a method termed Jacobi Compensation. A walking controller based on the inverted pendulum method is implemented on the humanoid UT-Theta which is equipped with an innovative knee joint allowing switching between actuated motion and free swinging and requires dedicated control.