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Dynamic Bipedal Walking by Controlling only the Equilibrium of Intrinsic Elasticities

Lakatos, Dominic and Albu-Schäffer, Alin and Rode, Christian and Loeffl, Florian Christoph (2016) Dynamic Bipedal Walking by Controlling only the Equilibrium of Intrinsic Elasticities. In: IEEE-RAS International Conference on Humanoid Robots, pp. 1282-1289. 2016 IEEE-RAS International Conference on Humanoid Robots, 15.-17. Nov. 2016, Cancun, Mexiko.

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Abstract

This paper presents a methodology for controlling dynamic bipedal walking in a compliantly actuated humanoid robotic system. The approach is such that it exploits the natural leg dynamics of the single and double support phase of the gait. The present approach avoids to close a torque control loop at joint level. While simulation implementations of torque based walking for series elastic actuator (SEA) humanoids display very promising results, several robustness issues very often appear in the experiments. Therefore we introduce here a minimalistic controller, which is based on feedback of control input collocated variables, with the only exception of zero joint torque control. Reshaping of the intrinsic elasticities by control is completely avoided. In order to achieve a coordinated movement of swing and stance leg during single support phase, an appropriate one-dimensional manifold of the motor positions is designed. This constrained behavior is experimentally shown to be compatible with the intrinsic mechanical oscillation mode of the double support phase. The feasibility of this methodology is experimentally validated on a human-scale, anthropomorphic bipedal robotic system with SEA actuation.

Item URL in elib:https://elib.dlr.de/109713/
Document Type:Conference or Workshop Item (Poster)
Title:Dynamic Bipedal Walking by Controlling only the Equilibrium of Intrinsic Elasticities
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.deUNSPECIFIED
Rode, Christianchristian rode [christian.rode (at) uni-jena.de]UNSPECIFIED
Loeffl, Florian Christophflorian.loeffl (at) dlr.deUNSPECIFIED
Date:15 November 2016
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Page Range:pp. 1282-1289
Status:Published
Keywords:bipedal locomotion, dynamic walking, compliance control, series elastic actuators
Event Title:2016 IEEE-RAS International Conference on Humanoid Robots
Event Location:Cancun, Mexiko
Event Type:international Conference
Event Dates:15.-17. Nov. 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Laufroboter/Lokomotion
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lakatos, Dominic
Deposited On:20 Dec 2016 11:09
Last Modified:31 Jul 2019 20:06

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