Werner, Alexander und Henze, Bernd und Loeffl, Florian Christoph und Leyendecker, Sigrid und Ott, Christian (2017) Optimal and Robust Walking using Intrinsic Properties of a Series-Elastic Robot. In: IEEE-RAS International Conference on Humanoid Robots. 2017 IEEE-RAS International Conference on Humanoid Robots, 2017-11-15 - 2017-11-17, Birmingham. doi: 10.1109/HUMANOIDS.2017.8239549.
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Kurzfassung
Series-Elastic Actuators (SEA) have been proposed as a technology to build robust humanoid robots. The aim of this work is to generate efficient and robust walking for such robots. We present a combined approach which exploits the system dynamics through optimization based trajectory generation and a robust control scheme. The compliant actuator dynamics are explicitly modeled in the optimal control problem. For local stabilization, a passivity based tracking controller distributes the required control forces onto the available contacts. Additionally, a predictive control scheme for step adaptation is presented, which provides feasible contact points in the future. Using a reduced model, this combines efficient walking with robustness against model or environment uncertainties and external disturbances.
elib-URL des Eintrags: | https://elib.dlr.de/116950/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||||||||||
Titel: | Optimal and Robust Walking using Intrinsic Properties of a Series-Elastic Robot | ||||||||||||||||||||||||
Autoren: |
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Datum: | 17 November 2017 | ||||||||||||||||||||||||
Erschienen in: | IEEE-RAS International Conference on Humanoid Robots | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||
DOI: | 10.1109/HUMANOIDS.2017.8239549 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Robot, Walking, Optimal Control, Series-Elastic | ||||||||||||||||||||||||
Veranstaltungstitel: | 2017 IEEE-RAS International Conference on Humanoid Robots | ||||||||||||||||||||||||
Veranstaltungsort: | Birmingham | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 15 November 2017 | ||||||||||||||||||||||||
Veranstaltungsende: | 17 November 2017 | ||||||||||||||||||||||||
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: | Werner, Alexander | ||||||||||||||||||||||||
Hinterlegt am: | 11 Dez 2017 14:57 | ||||||||||||||||||||||||
Letzte Änderung: | 05 Jun 2024 08:49 |
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