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Integrated, Object-oriented Dynamics Modeling for Design, Trajectory Optimization, and Control of Legged Robots

Höpler, Robert and Stelzer, Maximilian and Stryk, Oskar von (2004) Integrated, Object-oriented Dynamics Modeling for Design, Trajectory Optimization, and Control of Legged Robots. Advances in Simulation Techniques for Applied Dynamics, 2004, Halle.

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Abstract

The development of flexible, dynamic and autonomous (i.e. guided by external and internal sensor data) motions for quadrupedal and humanoid robots is still a challenging and mainly unsolved task. The dynamics of legged robots is characterized by a free-floating, tree-like multibody systems structure with a high number of degrees of freedom consisting of many links and many actuated joints. Due to the frequent changes of the contact situation during legged motion frequent changes in the dynamic model occur. This special structure can usually not be utilized for an efficient implementation when using general purpose MBS formalisms and tools. To cope with the high complexity of legged robots model-based methods for real-time actuator control, for on- and off-line trajectory optimization, and for controler design specifically tailored to the one scenario of legged robots must be developted. For rapid an virtual prototyping a most desireable goal is not only to apply the same abstract dynamic model representations and mathematical models but also as many parts as possible of the same program code for evaluating legged robot dynamics during all stages of design, development, implenentation and operation of a legged robot.

Document Type:Conference or Workshop Item (Paper)
Additional Information:LIDO-Berichtsjahr=2004,
Title:Integrated, Object-oriented Dynamics Modeling for Design, Trajectory Optimization, and Control of Legged Robots
Authors:
AuthorsInstitution or Email of Authors
Höpler, RobertUNSPECIFIED
Stelzer, MaximilianTU Darmstadt
Stryk, Oskar vonTU Darmstadt
Date:March 2004
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Legged Robot, Object-oriented Modeling, Trajectory optimization, Optimal Control,
Event Title:Advances in Simulation Techniques for Applied Dynamics, 2004
Event Location:Halle
Event Type:international Conference
Organizer:Proc. Euromech 452
HGF - Research field:other
HGF - Program:other
HGF - Program Themes:other
DLR - Research area:no assignement
DLR - Program:no assignment
DLR - Research theme (Project):other
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: elib DLR-Beauftragter
Deposited On:21 Feb 2006
Last Modified:12 Dec 2013 20:02

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