The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Besides accurate and fast sensors, a powerful computer system is essential for the performance and stability of the machine. The control system requires hard real-time capabilities and low cycle times. With our new control concept and the new computer system, walking speeds of 2.4 km/h have been achieved in experiments.
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Lohmeier et al. (2004) studied this question.
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