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Werner, Alexander und Lampariello, Roberto und Ott, Christian (2014) Trajectory Optimization for Walking Robots with Series Elastic Actuators. In: IEEE Conference on Decision and Control (ISSN: 0733-8716). 53rd IEEE Conference on Decision and Control, 15-17 Dec 2014, Los Angeles, California, USA. doi: 10.1109/CDC.2014.7039845. ISSN 0733-8716.
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Kurzfassung
Series elastic actuators are a promising feature for future walking robots. Utilizing the natural oscillation of the elastic actuation can lead to efficient locomotion. However finding a matching combination of joint stiffness and actuator input is challenging as these robots share the properties of underactuated and hybrid dynamic systems. In this paper an optimization problem for cyclic walking of a robot with series elastic actuators is formulated and a flatness based solution method is presented. The method efficiently generates trajectories which exploit the actuator capabilities while respecting all limitations of the system. Additionally the relevant aspects of the trajectories for the design of a flexible robot are discussed.
| elib-URL des Eintrags: | https://elib.dlr.de/94321/ | ||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
| Titel: | Trajectory Optimization for Walking Robots with Series Elastic Actuators | ||||||||||||||||
| Autoren: |
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| Datum: | 15 Dezember 2014 | ||||||||||||||||
| Erschienen in: | IEEE Conference on Decision and Control (ISSN: 0733-8716) | ||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||
| Open Access: | Ja | ||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||
| DOI: | 10.1109/CDC.2014.7039845 | ||||||||||||||||
| ISSN: | 0733-8716 | ||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||
| Stichwörter: | Robotics; Optimization; Switched systems | ||||||||||||||||
| Veranstaltungstitel: | 53rd IEEE Conference on Decision and Control | ||||||||||||||||
| Veranstaltungsort: | Los Angeles, California, USA | ||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
| Veranstaltungsdatum: | 15-17 Dec 2014 | ||||||||||||||||
| 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 - Laufroboter/Lokomotion [SY] | ||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
| Hinterlegt von: | Werner, Alexander | ||||||||||||||||
| Hinterlegt am: | 09 Jan 2015 16:52 | ||||||||||||||||
| Letzte Änderung: | 25 Jul 2023 08:00 |
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