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Garofalo, Gianluca und Ott, Christian und Albu-Schäffer, Alin (2012) Walking control of fully actuated robots based on the Bipedal SLIP model. Dynamic Walking 2012, 21-24 May 2012, Florida, USA.
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Kurzfassung
Everyone has experienced that different kind of walking patterns are applied when moving on different terrains and with different goals. Beside the usual distinction between walking and running, in fact, it should also be considered that walking trying to avoid obstacles is different from walking on a flat obstacles-free surface. In the latter case everyone will walk "without thinking", to a more or less constant speed, in the most comfortable way possible. It is then quite natural to try to reproduce stable periodic walking patterns also for the robot. We are interested in an adaptable behaviour, meaning that the robot should be able to reproduce different walking motions and in particular different periodic gaits. Therefore we need to influence via the controller the dynamics of the robot.
| elib-URL des Eintrags: | https://elib.dlr.de/87256/ | ||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||
| Titel: | Walking control of fully actuated robots based on the Bipedal SLIP model | ||||||||||||||||
| Autoren: |
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| Datum: | 2012 | ||||||||||||||||
| Referierte Publikation: | Nein | ||||||||||||||||
| Open Access: | Nein | ||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||
| Stichwörter: | SLIP, two layer control architecture, energy control law | ||||||||||||||||
| Veranstaltungstitel: | Dynamic Walking 2012 | ||||||||||||||||
| Veranstaltungsort: | Florida, USA | ||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
| Veranstaltungsdatum: | 21-24 May 2012 | ||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) | ||||||||||||||||
| Hinterlegt von: | Garofalo, Dr. Ing. Gianluca | ||||||||||||||||
| Hinterlegt am: | 07 Jan 2014 17:14 | ||||||||||||||||
| Letzte Änderung: | 29 Mär 2023 00:19 |
Verfügbare Versionen dieses Eintrags
- Walking control of fully actuated robots based on the Bipedal SLIP model. (deposited 07 Jan 2014 17:14) [Gegenwärtig angezeigt]
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