RobotsLab
intelligent control
OTTO-VON-GUERICKE-UNIVERSITY MAGDEBURG
Fraunhofer Institute for Factory Operation and Automation IFF
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CONTACT
O.-v.-G.-University Magdeburg
Institute of Electrical Power Systems
Fraunhofer IFF Magdeburg
Virtual Engineering Expert Group
ARTICLES
Linear Elastic Actuator of a Biped Robot "ROTTO"

Biped Robot "ROTTO": Design, Simulation, Experiments

RobotsLab - ANTON technical informations page
Mechanics
-Aluminium construction with carbon filling pieces
-Walking mechanism: rectangular shape body consists of 3 modular segments with 2 legs and with 3 degrees of freedom per leg
-Active degrees of freedom: 26
-Variable number of legs due modularity (4, 6, 8 etc.)
-Leg length:
shoulderl0=40 mm
thighl1=100 mm
shankl2=180 mm
-Body dimensions:
total lengthLB=944 mm
length of segment LS=288 mm
-Drives:DC motors Faulhaber 1724 24V in knees
DC motors Faulhaber 2232 24V in other joints
-Max. speed:~ 3 km/h
-Effective load:~ 2,0 kg
-Total mass:7,5 kg
Sensor system
-Angle (potentiometer) and IGRs in each motor
-6 three-component force sensors mounted in the leg shanks
-Gyroscopic sensor in body
-Stereoscopic camera
On-board control hardware
-Fast and flexible FPGA controller in each segment (control loop <0.1ms)
-Real-time ethernet communication (EtherCAT) via network processor NetX by Hilscher in each segment
-PC connection over Ethernet (EtherCAT) (control loop 1ms)
NEWS
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"
...
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