Design and Realization of a Humanoid Robot for Fast and Autonomous Bipedal Locomotion

摘要

This thesis covers the mechatronic conception, design and realization of a humanoid walking robot. Weighing approximately 60 kg, the robot stands 180 cm tall and has 25 actuated degrees of freedom in a redundant configuration. The mechanical structure is characterized by the consistent lightweight design with high effective stiffness. The lightweight servo actuators combine high-dynamic brushless servo motors with precision gearings and sensors into a compact package. Moreover, the resultant inertia of the legs is minimized by a sophisticated design of the structure and drive mechanisms, resulting in a superior acceleration behavior. The sensor layout comprises angular sensors for direct measurement of the joint angles, a high-precision inertial measurement system and force/torque sensors in the feet. Using the trajectory generation and control system, which is not in the scope of this work, the current speed of locomotion is 3.34 km/h.