Friday, August 6, 2010
DLR-Biped – Could These Be Justin’s Legs?: "Like PETMAN and other biped prototypes it lacks a proper upper body, but is still rather tall given the legs are 90cm (3′) from hip to sole. In total it measures approximately 143cm (4’8″) and weighs 50kg (110 lbs). Besides six-axis force torque sensors in each foot, and an inertial measurement system in the trunk, the 6 joints in each leg are torque controlled. The researchers say that this is a first for a biped robot and that it will allow them to implement compliant impedance control in the legs similar to Justin’s arms during manipulation tasks."