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Optimal and Robust Walking using Intrinsic Properties of a Series-Elastic Robot

Werner, Alexander and Henze, Bernd and Loeffl, Florian Christoph and Leyendecker, Sigrid and 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, Birmingham.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/116950/
Document Type:Conference or Workshop Item (Poster)
Title:Optimal and Robust Walking using Intrinsic Properties of a Series-Elastic Robot
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Werner, Alexanderalexander.werner (at) dlr.dehttps://orcid.org/0000-0003-0766-2245
Henze, BerndBernd.Henze (at) dlr.deUNSPECIFIED
Loeffl, Florian ChristophFlorian.Loeffl (at) dlr.deUNSPECIFIED
Leyendecker, SigridUNSPECIFIEDUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:17 November 2017
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Robot, Walking, Optimal Control, Series-Elastic
Event Title:2017 IEEE-RAS International Conference on Humanoid Robots
Event Location:Birmingham
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Laufroboter/Lokomotion
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Werner, Alexander
Deposited On:11 Dec 2017 14:57
Last Modified:31 Jul 2019 20:14

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