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 - Katharina technical informations page
Mechanics
-Aluminium construction
-Walking mechanism: hexagon shape body consists with 2 legs and with 3 degrees of freedom per leg
-Active degrees of freedom: 18
-Leg length:
shoulderl0=70 mm
thighl1=135 mm
shankl2=210 mm
-Body dimensions:
radius of bodyRB=180 mm
-Drives:DC motors
Maxon RE025-118752 24V
DC motors Maxon RE035 24V
-Max. speed:~ 0,4 km/h
-Effective load:~ 10 kg
-Total mass:20 kg
-Max. power consumption:400 W
Sensor system
-Angle (potentiometer) and IGRs in each motor
-6 three-component force sensors mounted in the leg shanks
-Stereoscopic camera (optional)
On-board control hardware
-Fast and flexible DSP controller in each segment (control loop <1ms)
-PC connection over RS-232 (only command signals)
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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