Werner, Alexander und Turlej, Wojciech und Ott, Christian (2017) Generation of Locomotion Trajectories for Series Elastic and Viscoelastic Bipedal Robots. In: IEEE International Conference on Intelligent Robots and Systems. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017-09-24 - 2017-09-28, Vancouver, Canada. doi: 10.1109/iros.2017.8206476.
PDF
3MB |
Kurzfassung
Series-elastic and viscoelastic robots can provide performance gains in applications with high dynamics. Harnessing these, requires an understanding of the dynamics of the system, which can be gained using optimization-based methods. The result are motions which make optimal use of the intrinsic behavior, possibly exceeding the performance of an equivalent rigid-body robot. We present a collocation framework which enables both automatic computation of contact-switching patterns and allows the full utilization of the dynamics of the compliant system. The formulation also addresses the problem of redundant torque generation in viscoelastic actuators. The effectiveness of this method was demonstrated in simulations as well as experiments with a compliant bipedal robot. The approach is capable of providing gait primitives, longer gait sequences containing multiple steps as well as generating extremely dynamic motions, e.g. somersaults.
elib-URL des Eintrags: | https://elib.dlr.de/116952/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vorlesung) | ||||||||||||||||
Titel: | Generation of Locomotion Trajectories for Series Elastic and Viscoelastic Bipedal Robots | ||||||||||||||||
Autoren: |
| ||||||||||||||||
Datum: | 2017 | ||||||||||||||||
Erschienen in: | IEEE International Conference on Intelligent Robots and Systems | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/iros.2017.8206476 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Bipdal Robot, Optimal Control, Collocation, Contact, Series-Elastic, Trajectory Genration | ||||||||||||||||
Veranstaltungstitel: | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
Veranstaltungsort: | Vancouver, Canada | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 24 September 2017 | ||||||||||||||||
Veranstaltungsende: | 28 September 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 14:58 | ||||||||||||||||
Letzte Änderung: | 07 Jun 2024 10:47 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags