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Generation of Locomotion Trajectories for Series Elastic and Viscoelastic Bipedal Robots

Werner, Alexander and Turlej, Wojciech and 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, Vancouver, Canada.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/116952/
Document Type:Conference or Workshop Item (Lecture)
Title:Generation of Locomotion Trajectories for Series Elastic and Viscoelastic Bipedal Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Werner, AlexanderAlexander.Werner (at) dlr.deUNSPECIFIED
Turlej, WojciechUNSPECIFIEDUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:11 December 2017
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Bipdal Robot, Optimal Control, Collocation, Contact, Series-Elastic, Trajectory Genration
Event Title:2017 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Vancouver, Canada
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 14:58
Last Modified:31 Jul 2019 20:14

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