A Penalty Shooting Walking Machine

Dynamics and Control
  • Hubert Gattringer
  • Hartmut Bremer
Conference paper
Part of the Solid Mechanics and its Applications book series (SMIA, volume 130)


In this paper, we consider the dynamical behavior and the control of a two legged Walking Machine. Special investigation is done in the evaluation of the equations of motion. Thus, for obtaining the accelerations of such a tree structured multi-body system, an O(n) algorithm is presented, enhancing the numerical stability. To fulfill the aim of modeling a gaitcycle, contact is opened and closed periodically. Therefore the O(n) algorithm is enhanced for this case. A controller is shown, that balances the robot when doing such highly dynamically processes like shooting a soccer penalty. Simulations and experimental results are presented.

Key words

two legged Walking Machine Zero Moment Point O(n) algorithm unilateral contact 


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Copyright information

© Springer 2005

Authors and Affiliations

  • Hubert Gattringer
    • 1
  • Hartmut Bremer
    • 1
  1. 1.Institute for RoboticsUniversity of LinzAustria

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