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Dynamic Multi-contact Transitions for Humanoid Robots using Divergent Component of Motion

Mesesan, George and Englsberger, Johannes and Henze, Bernd and Ott, Christian (2017) Dynamic Multi-contact Transitions for Humanoid Robots using Divergent Component of Motion. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation (ICRA) 2017, 29 May - 03 Jun 2017, Singapore.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/112691/
Document Type:Conference or Workshop Item (Speech)
Title:Dynamic Multi-contact Transitions for Humanoid Robots using Divergent Component of Motion
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Mesesan, Georgegeorge.mesesan (at) dlr.dehttps://orcid.org/0000-0001-5110-2988
Englsberger, Johannesjohannes.englsberger (at) dlr.deUNSPECIFIED
Henze, Berndbernd.henze (at) dlr.deUNSPECIFIED
Ott, Christianchristian.ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:2017
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:Humanoid and Bipedal Locomotion, Humanoid Robots, Motion and Path Planning
Event Title:IEEE International Conference on Robotics and Automation (ICRA) 2017
Event Location:Singapore
Event Type:international Conference
Event Dates:29 May - 03 Jun 2017
Organizer:IEEE
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 Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Mesesan, George-Adrian
Deposited On:19 Jun 2017 11:35
Last Modified:31 Jul 2019 20:10

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