Garofalo, Gianluca und Henze, Bernd und Englsberger, Johannes und Ott, Christian (2015) On the inertially decoupled structure of the floating base robot dynamics. In: International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives, Seiten 322-327. 8th Vienna International Conference on Mathematical Modelling (2015), 2015-02-18 - 2015-02-20, Vienna, Austria. doi: 10.1016/j.ifacol.2015.05.189. ISSN 1682-1750.
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Kurzfassung
In this paper a coordinate transformation is proposed that provides an inertially decoupled structure for the equations of motion of a floating base robot. As the center of mass (CoM) has been used both for locomotion and balancing of legged robots because of its decoupled dynamics from the rest of the system, we expect to benefit from our coordinate transformation since it allows to separate the linear and angular centroidal dynamics from the joint dynamics. Gaining insights about the model, simpler and more effective control laws can be developed. As an example of application, the proposed transformation is used in the derivation of a humanoid balance controller.
elib-URL des Eintrags: | https://elib.dlr.de/112841/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | On the inertially decoupled structure of the floating base robot dynamics | ||||||||||||||||||||
Autoren: |
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Datum: | Februar 2015 | ||||||||||||||||||||
Erschienen in: | International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
DOI: | 10.1016/j.ifacol.2015.05.189 | ||||||||||||||||||||
Seitenbereich: | Seiten 322-327 | ||||||||||||||||||||
ISSN: | 1682-1750 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Robotics, Dynamics, Co-ordinate transformations, Conservation of momentum, Humanoid balance controller. | ||||||||||||||||||||
Veranstaltungstitel: | 8th Vienna International Conference on Mathematical Modelling (2015) | ||||||||||||||||||||
Veranstaltungsort: | Vienna, Austria | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 18 Februar 2015 | ||||||||||||||||||||
Veranstaltungsende: | 20 Februar 2015 | ||||||||||||||||||||
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: | Garofalo, Dr. Ing. Gianluca | ||||||||||||||||||||
Hinterlegt am: | 14 Jul 2017 17:44 | ||||||||||||||||||||
Letzte Änderung: | 04 Jun 2024 14:21 |
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