Sadeghian, Hamid und Ott, Christian und Cheng, Gordon (2016) Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots, 2016-11-15 - 2016-11-17, Cancun, Mexico. doi: 10.1109/HUMANOIDS.2016.7803375.
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Offizielle URL: http://ieeexplore.ieee.org/document/7803375/
Kurzfassung
This paper investigates the rule of ankle torque in stabilization of periodic motions in planar biped with feet. In order to illustrate the main concepts, the walking is considered to be consist of two phases; A fully actuated phase, where the stance foot is flat on the ground, and an instantaneous double support phase. It is shown how the ankle torque can be used effectively within hybrid zero dynamics framework to stabilize the system around a target periodic orbit. This control torque which is designed as an internal command to the swing phase zero dynamics is further exploited to switch among different orbits in one transition step. For the former goal, the Lagrangian property of the swing phase zero dynamics is employed and the ankle torque is applied to regulate the corresponding energy level of the target orbit. For the switching problem, this command is used to steer the trajectory of the system within connecting zero dynamics manifold. The proposed methods are verified through several simulations on a seven-link planar biped robot.
elib-URL des Eintrags: | https://elib.dlr.de/113537/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||
Titel: | Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach | ||||||||||||||||
Autoren: |
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Datum: | November 2016 | ||||||||||||||||
Erschienen in: | IEEE-RAS International Conference on Humanoid Robots | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/HUMANOIDS.2016.7803375 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Humanoid Robots, Locomotion, Hybrid Zero Dynamics | ||||||||||||||||
Veranstaltungstitel: | IEEE-RAS International Conference on Humanoid Robots | ||||||||||||||||
Veranstaltungsort: | Cancun, Mexico | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 15 November 2016 | ||||||||||||||||
Veranstaltungsende: | 17 November 2016 | ||||||||||||||||
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) Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Ott, Dr. Christian | ||||||||||||||||
Hinterlegt am: | 02 Aug 2017 08:20 | ||||||||||||||||
Letzte Änderung: | 05 Jun 2024 08:49 |
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