Englsberger, Johannes und Kozlowski, Pawel und Ott, Christian (2015) Biologically Inspired Deadbeat control for running on 3D stepping stones. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots 2015, 2015-11-03 - 2015-11-05, Seoul, Korea. doi: 10.1109/HUMANOIDS.2015.7363501.
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Kurzfassung
This paper enhances the Biologically Inspired Dead-beat (BID) controller from [1], to not only enable three-dimensional bipedal running on a horizontal plane but also on 3D steppingstones. Further contributions of the paper are explicit foot step targeting during running, leg cross-over avoidance and the embedding of the BID controller into a QP-based wholebody controller. The BID controller is based on the encoding of leg forces and CoM trajectories during stance as polynomial splines, allowing for intuitive and primarily analytical controller design. It allows a real-time implementation, is highly robust against perturbations and enables versatile running patterns. The performance of the control framework is tested in various simulations for a bipedal point-mass model and an articulated multi-body model of the humanoid robot Toro.
elib-URL des Eintrags: | https://elib.dlr.de/100641/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||
Titel: | Biologically Inspired Deadbeat control for running on 3D stepping stones | ||||||||||||||||
Autoren: |
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Datum: | November 2015 | ||||||||||||||||
Erschienen in: | IEEE-RAS International Conference on Humanoid Robots | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/HUMANOIDS.2015.7363501 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Bipedal locomotion, running control, Biologically Inspired Deadbeat control, BID, stepping stones | ||||||||||||||||
Veranstaltungstitel: | IEEE-RAS International Conference on Humanoid Robots 2015 | ||||||||||||||||
Veranstaltungsort: | Seoul, Korea | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 3 November 2015 | ||||||||||||||||
Veranstaltungsende: | 5 November 2015 | ||||||||||||||||
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: | Englsberger, Dr.-Ing. Johannes | ||||||||||||||||
Hinterlegt am: | 08 Dez 2015 13:29 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:06 |
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