Experimental Analysis of Structural Vibration Problems of a Biped Walking Robot
Tobias F. C. Berninger,Felix Sygulla,Sebastian Fuderer,Daniel J. Rixen,Tobias F. C. Berninger,Felix Sygulla,Sebastian Fuderer,Daniel J. Rixen
Over the past decade we have been able to vastly improve the control algorithms of our biped walking robot LOLA. Further enhancements, however, are limited by vibration problems caused by the dynamics of LOLA's mechanical structure. In this work, we present small examples how structural dynamics limit our control design for walking control as well as low level position control of the joints. We al...
