Marc Bestmann, Jasper Güldenstein, Florian Vahl, Jianwei Zhang
{"title":"Wolfgang-OP:一种鲁棒类人机器人研究与竞赛平台","authors":"Marc Bestmann, Jasper Güldenstein, Florian Vahl, Jianwei Zhang","doi":"10.1109/HUMANOIDS47582.2021.9555808","DOIUrl":null,"url":null,"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.","PeriodicalId":320510,"journal":{"name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Wolfgang-OP: A Robust Humanoid Robot Platform for Research and Competitions\",\"authors\":\"Marc Bestmann, Jasper Güldenstein, Florian Vahl, Jianwei Zhang\",\"doi\":\"10.1109/HUMANOIDS47582.2021.9555808\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":320510,\"journal\":{\"name\":\"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)\",\"volume\":\"26 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-07-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/HUMANOIDS47582.2021.9555808\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/HUMANOIDS47582.2021.9555808","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Wolfgang-OP: A Robust Humanoid Robot Platform for Research and Competitions
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.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
