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Robotics and Mechatronics Center
Institute of Robotics and Mechatronics
Institute of System Dynamics and Control
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For studying the principles of biped locomotion an experimental system was build based on the technology of the DLR lightweight arms. The DLR-Biped utilizes link side joint torque sensors in combination with electrical actuators and harmonic drive gears. Using this system, the advantages of joint torque sensing and control for biped locomotion are investigated.
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