Englsberger, Johannes und Mesesan, George und Werner, Alexander und Ott, Christian (2018) Torque-based dynamic walking - A long way from simulation to experiment. In: 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE. International Conference on Robotics and Automation (ICRA) 2018, 2018-05-21 - 2018-05-25, Brisbane, Australien. doi: 10.1109/ICRA.2018.8462862. ISBN 978-153863081-5. ISSN 1050-4729.
PDF
- Nur DLR-intern zugänglich
1MB |
Offizielle URL: https://ieeexplore.ieee.org/document/8462862
Kurzfassung
This paper presents methods that facilitate the implementation of dynamic walking on torque-controlled robots in real world experiments. The work uses the Divergent Component of Motion (DCM) for walking trajectory generation and control. The DCM controller is embedded into a whole-body controller (WBC) that produces a full-body walking behavior. While in simulation the combination of DCM and WBC is sufficient for achieving sophisticated walking gaits, during our initial experiments several real-world issues, detailed in this paper, prevented the original control framework from functioning. This work presents the improvements to the original control framework that enabled a breakthrough on the way to achieving torque-based dynamic walking on a real robot.
elib-URL des Eintrags: | https://elib.dlr.de/120419/ | ||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||||||
Titel: | Torque-based dynamic walking - A long way from simulation to experiment | ||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||
Datum: | 2018 | ||||||||||||||||||||
Erschienen in: | 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
DOI: | 10.1109/ICRA.2018.8462862 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||||||
ISBN: | 978-153863081-5 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Walking control, torque-based Walking, Experiment, filter design | ||||||||||||||||||||
Veranstaltungstitel: | International Conference on Robotics and Automation (ICRA) 2018 | ||||||||||||||||||||
Veranstaltungsort: | Brisbane, Australien | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 21 Mai 2018 | ||||||||||||||||||||
Veranstaltungsende: | 25 Mai 2018 | ||||||||||||||||||||
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: | Englsberger, Dr.-Ing. Johannes | ||||||||||||||||||||
Hinterlegt am: | 22 Jun 2018 17:47 | ||||||||||||||||||||
Letzte Änderung: | 05 Jun 2024 14:13 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags