Garofalo, Gianluca (2017) Energy based limit cycle control for elastically actuated biped robots. Dissertation.
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Offizielle URL: http://mediatum.ub.tum.de/?id=1327035
Kurzfassung
Legged robots are challenging systems to control due to their hybrid nature, underactuation and unilateral constraints. To perform highly dynamic tasks as jumping and running, performant actuators are required. Elastic joints are often used, but they introduce another source of underactuation in the system. Since locomotion patterns can be described as periodic tasks, in this work controllers are designed to produce asymptotically stable limit cycles by regulating the energy of the system. Different control laws are proposed, both for rigid and elastic joints, with applications to biped locomotion.
elib-URL des Eintrags: | https://elib.dlr.de/113085/ | ||||||||
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Dokumentart: | Hochschulschrift (Dissertation) | ||||||||
Titel: | Energy based limit cycle control for elastically actuated biped robots | ||||||||
Autoren: |
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Datum: | März 2017 | ||||||||
Referierte Publikation: | Ja | ||||||||
Open Access: | Ja | ||||||||
Seitenanzahl: | 140 | ||||||||
Status: | veröffentlicht | ||||||||
Stichwörter: | nonlinear control, elastic robots, walking, energy control | ||||||||
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 - Laufroboter/Lokomotion [SY] | ||||||||
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 17:50 | ||||||||
Letzte Änderung: | 31 Jul 2019 20:10 |
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