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

Biped Robot "ROTTO": Design, Simulation, Experiments

RobotsLab - Katharina informations page
Katharina - Six Legged Walking Robot
The six-legged walking robot "Katharina", developed in Fraunhofer Institute for Factory Operation and Automation IFF in Magdeburg, has a supervisory control system and force sensing systems which enable to realize various types of locomotion with parallel independent body motion control, and automatic leg adaptation to small irregularities of a surface and provides uniform distribution of support reactions.

The DSP® 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.

"Katharina" is a high-complex, non-linear, time-variant, electromechanical system and controller design must take into consideration the following non-linearities:
-Mechanical non-linearities: mechanical constraints, changing weight, dry/viscous friction, load variation, non-deterministic and changing environment;
-Electromechanical and electrical non-linearities: variable drive parameters (e.g. changing inertia), current and voltage limitation of the converter, discontinuous current mode, noises, sampling time of the control system.

The following base control functions of locomotion and manoeuvring are integrated:
-individual control of each leg and segments of the body;
-control of width of a track and clearance of robot;
-robot motion gait: tripod, gallop and serial;
-movement in any direction;
-force control.
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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