Trautmann, Dietrich (2015) Generalization of optimal motion trajectories for a biped walking machine based on machine learning. DLR-Interner Bericht. DLR-IB 572-2015/13. Masterarbeit. Robotics and Mechatronics Institute, DLR.
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Kurzfassung
Optimal walking trajectories are essential for bipedal walking. Recent developments enabled the use of motion planer based on nonlinear optimization. They are however, not directly applicable in real-time tasks due to a high computation time. Therefore, a task space consisting of the stride-length and a step time is used to precompute corresponding trajectory parameters in a certain range regarding a cost function. The resulting trajectories define an optimal joint space motion. The mapping from the task space to the joint space is generalized with multiple machine learning methods. A parametrization of every method was determined to represent the underlying model of the data as good as possible, without over-fitting. Finally, the performance regarding the accuracy and runtime and the evaluation of the cost value and constraint violation in the walking tasks is discussed.
elib-URL des Eintrags: | https://elib.dlr.de/101287/ | ||||||||
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Dokumentart: | Berichtsreihe (DLR-Interner Bericht, Masterarbeit) | ||||||||
Titel: | Generalization of optimal motion trajectories for a biped walking machine based on machine learning | ||||||||
Autoren: |
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Datum: | 15 April 2015 | ||||||||
Referierte Publikation: | Nein | ||||||||
Open Access: | Ja | ||||||||
Status: | veröffentlicht | ||||||||
Stichwörter: | Humanoid robots, Nonlinear optimization, Machine learning | ||||||||
Institution: | Robotics and Mechatronics Institute, DLR | ||||||||
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 - On-Orbit Servicing [SY] | ||||||||
Standort: | Oberpfaffenhofen | ||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||
Hinterlegt von: | Lampariello, Roberto | ||||||||
Hinterlegt am: | 04 Jan 2016 11:09 | ||||||||
Letzte Änderung: | 31 Jul 2019 19:58 |
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