intelligent control
Fraunhofer Institute for Factory Operation and Automation IFF
O.-v.-G.-University Magdeburg
Institute of Electrical Power Systems

Universitaetsplatz 2,
Postfach 4120
39106, Magdeburg
Fraunhofer IFF Magdeburg
Virtual Engineering Expert Group

Sandtorstrasse 22,
39106, Magdeburg
Linear Elastic Actuator of a Biped Robot "ROTTO"

Biped Robot "ROTTO": Design, Simulation, Experiments

Biped Robot "ROTTO": Stiff and Compliant

Presentation of a New Biped Robot "ROTTO"

Low-Level Control System of a New Biped Robot "ROTTO"

Linear Drive With Serial Elastic Actuator for Anthropomorphous Robot "ROTTO" (on russian)

Linear Drive For Anthropomorphous Robot "ROTTO" (on russian)

Development and Test of the Walking Robot "ANTON"

Walking Robot "ANTON": Design, Simulation, Experiments

Real-time Distributed Control System of Legged Robot (on German)

RobotsLab - ANTON informations page
ANTON - Six Legged Robot
A prototype of a modular legged walking robot has been developed by Otto-von-Guericke University of Magdeburg.

This robot has high mobility and manoeuvrability, and is able to walk over unknown terrain, climb up obstacles and support inspection and ser-vice operations.

A walking robot as a complex mechatronic system can be used for research of scientific and applied problems:

-investigations in gait generation and motion control;
-interaction with various terrain and objects;
-motion on soft and slippery surface, adaptation to the surface with unknown and changing load capacity;
-usage of the robot's body as an adaptive chassis for such tasks as tool carrier for various service operations (such as drilling, mounting etc.);
-inspection tasks in closed rooms, pipes, on complex terrain, especially in areas with harmful environmental conditions that are hazardous for humans;
-development and optimization of various algorithms for motion, climbing and service operations;
-passing over obstacles that are much bigger then robot's body, and motion over complex terrain;
-ability to walk up stairs and through tiny spaces;
-ability to use one or more legs as a manipulator.

The real-time connection between robot's modules and host PC is made via netX® based communication bridge. EtherCAT® is chosen as a real-time Ethernet protocol for communication between robot's modules and host PC.

The FPGA system inside the body controls and monitors all actuators and sensors of the robot. The hardware abstraction layer (HAL) of the robot provides flexibility and simplifies the development of control algorithms.

The main distinctive features of the robot are the active degrees of freedom in the body that makes it possible to avoid and to climb large obstacles. The sensibility of the legs with the help of 3-component force sensors and force feedback provides new features:
-foot force distribution;
-identification of mechanical properties of the ground;
-maintenance of static stability in a complex terrain.
June 2011
-Updated videos of ROTTO
June 2010
-Updated videos of ROTTO
-Updated section of team
-Updated section of articles
December 2008
-Updated section of ROTTO
-Updated videos of ROTTO
-Updated photos of ROTTO
September 2008
-Updated section of articles
-Updated videos of ROTTO
-Updated photos of ROTTO
August 2008
-Added new section - ROTTO
-Updated photos of ANTON from HMI 2008 Exhibition
-Updated videos of ANTON from HMI 2008 Exhibition and "Night of Innovation"
-Updated section of articles
-Updated photos from "Night of Innovation"
-Updated videos of Katharina from "Night of Innovation"
May-June 2008
-Participation on "Night of Innovation" in Magdeburg
April 2008
-Participation on HMI 2008 in Hannover
February 2008
-ROTTO is in manufacturing stage
December 2007
-Updated photos of ANTON from SPS/IPC/Drives 2007 Exhibition
-ROTTO is in development stage
November 2007
-Participation on SPS/IPC/Drives 2007 in Nürnberg
-Updated photos of ANTON
-Updated information about ANTON
October 2007
-Defence of Doctor Thesis by Vadym Rusin
July 2007
-Updated section of articles
May 2007
-Updated photos of Katharina
-Updated videos of Katharina
-Added new section - Katharina
-Updated papers section
-Updated real photos of SLAIR 2
-Pleased to annonce M.Sc. Artem Rudskyy and M.Sc. Andriy Melnykov have joined our team
April 2007
-Updated photos of electronic of ANTON
-Updated section of articles
-Updated CAD pictures of ANTON
-Updated technical information in the section ANTON
-Updated real photos of SLAIR 2
-Updated real videos of SLAIR 2
-Updated information in the section SLAIR 2
-Participation on HMI07 in Hannover
-Updated information in the section SLAIR
-ANTON is in manufacturing stage
-ANTON is in development stage
-Site is launched
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