The sales volume of service robots for personal and domestic use is constantly growing over the last years. While many of those robots are low-priced toy robots for entertainment use, most of the sold units are targeting the domestic market and are built for a special purpose, like vacuum and floor cleaning robots.
Due to their specialization on a specific task and their limited mobility and perception these robots fail if it comes to more advanced applications like cleaning up a room.
This is where humanoid robots will play an even more important role in the future. Based on the more complex structure this type of robot has the ability to solve many different tasks. One disadvantage of these universal robots is their costs and the complexity in controlling them. While with today’s technology designing such robots is not the main issue and more or less a matter of budget, programming the robots is the main challenge.
In the first part of this book the construction of a low-cost and modular bipedal walking robot is described.
The second part of the thesis focuses on the modelling of humanoid robots and the generation and stabilization of walking gaits.