Romansy 13 pp 339-345 | Cite as

Design and Control of a Biped Robot

  • Klaus Löffler
  • Michael Gienger
  • Friedrich Pfeiffer
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


The project of a two-legged walking robot is presented. The control system is based on a nonlinear control scheme using the method of feedback linearization. Special effort has been devoted to the trajectory generation which is computed such that the system remains controllable throughout the entire gait cycle. The controller and simulation algorithm have been implemented parametrically. Parameter studies have been performed which lead to the final design. The mechanical design with particular emphasis on actuators and sensors is presented.


Gait Pattern Feedback Linearization Reference Trajectory Biped Robot Ball Screw 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Klaus Löffler
    • 1
  • Michael Gienger
    • 1
  • Friedrich Pfeiffer
    • 1
  1. 1.Institute B for MechanicsTechnical University of MunichGermany

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