Computer system and control of biped "Johnnie"

摘要

The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Besides accurate and fast sensors, a powerful computer system is essential for the performance and stability of the machine. The control system requires hard real-time capabilities and low cycle times. With our new control concept and the new computer system, walking speeds of 2.4 km/h have been achieved in experiments.