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On the inertially decoupled structure of the floating base robot dynamics

Garofalo, Gianluca and Henze, Bernd and Englsberger, Johannes and 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, pp. 322-327. 8th Vienna International Conference on Mathematical Modelling (2015), Vienna, Austria. doi: 10.1016/j.ifacol.2015.05.189. ISSN 1682-1750.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/112841/
Document Type:Conference or Workshop Item (Speech)
Title:On the inertially decoupled structure of the floating base robot dynamics
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Garofalo, GianlucaUNSPECIFIEDhttps://orcid.org/0000-0002-7481-3464UNSPECIFIED
Henze, BerndUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Englsberger, JohannesUNSPECIFIEDhttps://orcid.org/0000-0002-8117-2650UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:February 2015
Journal or Publication Title:International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1016/j.ifacol.2015.05.189
Page Range:pp. 322-327
ISSN:1682-1750
Status:Published
Keywords:Robotics, Dynamics, Co-ordinate transformations, Conservation of momentum, Humanoid balance controller.
Event Title:8th Vienna International Conference on Mathematical Modelling (2015)
Event Location:Vienna, Austria
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Garofalo, Dr. Ing. Gianluca
Deposited On:14 Jul 2017 17:44
Last Modified:11 Aug 2023 11:41

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