Dutch Robotics 2011 adult-size team description

P.W.M. Zutven, van, P. Mironchyk, C. Çilli, Erik Steur, E. Ilhan, J. Caarls, R.S. Pieters, A. Filiz, P. Heijkoop, T. Boer, de, A. Smorenberg, E. Breda, van, G. Liqui Lung, F. Wilbers, C. Plooij, G. Hoorn, van der, S. Kiemel, R. Reinink, E. Dertien, G. Oort, vanD. Kostic, H. Nijmeijer, M. Wisse, P.P. Jonker, R. Carloni, S. Stramigioli, T.P.H. Warmerdam

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Abstract

This document presents the 2011 edition of the team Dutch Robotics from The Netherlands. Our team gathers three Dutch technical universities, namely Delft University of Technology, Eindhoven University of Technology and University of Twente, and the commercial company Philips. We contribute an adult-size humanoid robot TUlip, which is designed based on theory of the limit cycle walking developed in our earlier research. The key of our theory is that stable periodic walking gaits can be achieved even without high-bandwidth robot position control. Our control approach is based on simultaneous position and force control. For accurate force control, we make use of the Series Elastic Actuation. The control software of TUlip is based on the Darmstadt’s RoboFrame, and it runs on a PC104 computer with Linux Xenomai. The vision system consists of two wide-angle cameras, each interfaced with a dedicated Blackfin processor running vision algorithms, and a wireless networking interface.
Original languageEnglish
Title of host publicationProceedings of the 15th Annual RoboCup International Symposium 2011, 5-11 July 2011, Istanbul, Turkey
Place of PublicationIstanbul
PublisherRoboCup
Pages1-7
Publication statusPublished - 2011
Event15 RoboCup International Symposium (RoboCup 2011) - Istanbul, Turkey
Duration: 5 Jul 201111 Jul 2011
Conference number: 15

Conference

Conference15 RoboCup International Symposium (RoboCup 2011)
Abbreviated titleRoboCup 2011
CountryTurkey
CityIstanbul
Period5/07/1111/07/11

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