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The TUM walking machines.

Friedrich Pfeiffer¹

¹Institute of Applied Mechanics, Technical University Munich, 85748 Garching, Germany. pfeiffer@amm.mw.tum.de

Philosophical Transactions. Series A, Mathematical, Physical, and Engineering Sciences

|December 7, 2006

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Researchers detail walking machine design, focusing on iterative development and neurobiologically inspired control. The six-legged MAX achieved high autonomy, while the biped JOHNNIE utilized a vision system for partial autonomy.

Area of Science:

Robotics
Biomechanical Engineering
Artificial Intelligence

Background:

Walking machines represent a significant challenge in robotics.
Iterative design processes are crucial for complex machine development.
Neurobiological principles offer insights into autonomous control systems.

Purpose of the Study:

To present key aspects of walking machine design.
To emphasize the iterative design process and control strategies.
To detail the development of the biped JOHNNIE and its vision system.

Main Methods:

Iterative design and layout improvement.
Event-driven control concepts based on neurobiological findings.
Development of a vision system with decision algorithms for bipedal autonomy.

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Main Results:

Successful development of three walking machines (MAX, MORITZ, JOHNNIE).
Achieved near-perfect autonomy in the six-legged MAX machine.
Realized partial autonomy in the biped JOHNNIE through an advanced vision system.

Conclusions:

Iterative design and neurobiologically inspired control are effective for walking machine development.
Autonomy in legged robots can be achieved through sophisticated control and sensing.
The biped JOHNNIE exemplifies advancements in autonomous bipedal locomotion.