Marc Bestmann, Jasper Güldenstein, Florian Vahl, Jianwei Zhang
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引用次数: 2
Abstract
We present our open humanoid robot platform Wolfgang. The described hardware focuses on four aspects. Firstly, the robustness against falls is improved by integrating 3D printed elastic elements. Additionally, a high control loop frequency is achieved by using new custom control electronics. Furthermore, a torsion spring is applied to reduce the torque on the knee joints. Finally, computational power is provided through the combination of different processors. The paper also presents the ROS-based software stack that is used in RoboCup.
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