New Steps In the Development of the Two Legged Robot CENTAUROB

Abstract

In this paper the development of a new prototype for a statically stable robot system is described. Special feature of this system is the use of Steward-platforms as leg structures. Based on the evaluation of the first prototype, the design of a new set-up is shown which comprises reengineered actuators and sensor modules and an optimized mechanical structure. Since the robots is supposed to interact and move independently, biped walking and control concepts are discussed that will be implemented.