Design and control aspects of humanoid walking robots [Elektronische Ressource] / Dirk Wollherr

Lehrstuhl fur Steuerungs- und RegelungstechnikTechnische Universit at Munc henUniv.-Prof. Dr.-Ing./Univ. Tokio Martin BussDesign and Control Aspectsof Humanoid Walking RobotsDirk WollherrVollst andiger Abdruck der von der Fakult at fur Elektrotechnik und Informationstechnikder Technischen Universit at Munc hen zur Erlangung des akademischen Grades einesDoktor-Ingenieurs (Dr.-Ing.)genehmigten Dissertation.Vorsitzender: Univ.-Prof. Dr.-Ing. Klaus DiepoldPrufer der Dissertation:1. Univ.-Prof. Dr.-Ing./Univ. Tokio Martin Buss2. Univ.-Prof. Dr.-Ing., Dr.-Ing. habil. Heinz UlbrichDie Dissertation wurde am 31.3.2005 bei der Technischen Universit at Munc hen eingereichtund durch die Fakult at fur Elektrotechnik und Infromationstechnik 23.6.2005 angenommen2ForewordThis thesis has emerged from four years of work at three di eren t Labs. Both, the intel-lectual, and the physical journey left a signi can t imprint on my personality; all throughthe wide range of emotional experiences, ranging from the joyfull kick of successanger and the crestfallen thought of giving up in times where nothing seems to work { inthe retrospective, I do not want to miss any of it.The fundaments of this work have been laid at the Control Systems Group, Techni-sche Universit at Berlin, where the main task of assembling knowledge has been accom-plished and many practical experiences could be gained.