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Biologically Inspired Deadbeat control for running on 3D stepping stones

Englsberger, Johannes and Kozlowski, Pawel and 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, 3.-5. Nov. 2015, Seoul, Korea. doi: 10.1109/HUMANOIDS.2015.7363501.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/100641/
Document Type:Conference or Workshop Item (Poster)
Title:Biologically Inspired Deadbeat control for running on 3D stepping stones
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Englsberger, JohannesUNSPECIFIEDhttps://orcid.org/0000-0002-8117-2650UNSPECIFIED
Kozlowski, PawelUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:November 2015
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/HUMANOIDS.2015.7363501
Status:Published
Keywords:Bipedal locomotion, running control, Biologically Inspired Deadbeat control, BID, stepping stones
Event Title:IEEE-RAS International Conference on Humanoid Robots 2015
Event Location:Seoul, Korea
Event Type:international Conference
Event Dates:3.-5. Nov. 2015
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Walking Robotics/Locomotion [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Englsberger, Dr.-Ing. Johannes
Deposited On:08 Dec 2015 13:29
Last Modified:26 Jul 2023 07:28

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