Mesesan, George und Englsberger, Johannes und Henze, Bernd und Ott, Christian (2017) Dynamic Multi-contact Transitions for Humanoid Robots using Divergent Component of Motion. In: 2017 IEEE International Conference on Robotics and Automation, ICRA 2017. IEEE. IEEE International Conference on Robotics and Automation (ICRA) 2017, 2017-05-29 - 2017-06-03, Singapore. doi: 10.1109/ICRA.2017.7989473. ISBN 978-150904633-1. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/7989473
Kurzfassung
This paper presents a new method for planning and controlling dynamic multi-contact motions for humanoid robots. Our motion planner takes a sequence of multi-contact stances and generates closed-form reference trajectories for the robot center of mass (CoM) position, velocity, and acceleration, based on the concept of Divergent Component of Motion (DCM). The timing of the contact transitions and the end-effector trajectories are automatically computed such that the motion is feasible with respect to kinematic and dynamic constraints. We verify the constraints using a simplified model of the robot to achieve a very fast planner that finds a feasible solution within a few seconds. The reference trajectories serve as inputs to a passivity-based whole-body controller which includes a DCM controller for tracking the CoM trajectory. We demonstrate the robustness of our approach in simulation and experiments with the humanoid robot TORO.
elib-URL des Eintrags: | https://elib.dlr.de/112691/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Dynamic Multi-contact Transitions for Humanoid Robots using Divergent Component of Motion | ||||||||||||||||||||
Autoren: |
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Datum: | 2017 | ||||||||||||||||||||
Erschienen in: | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
DOI: | 10.1109/ICRA.2017.7989473 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||||||
ISBN: | 978-150904633-1 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Humanoid and Bipedal Locomotion, Humanoid Robots, Motion and Path Planning | ||||||||||||||||||||
Veranstaltungstitel: | IEEE International Conference on Robotics and Automation (ICRA) 2017 | ||||||||||||||||||||
Veranstaltungsort: | Singapore | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 29 Mai 2017 | ||||||||||||||||||||
Veranstaltungsende: | 3 Juni 2017 | ||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||
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 - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Mesesan, George-Adrian | ||||||||||||||||||||
Hinterlegt am: | 19 Jun 2017 11:35 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:17 |
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