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Torque-based dynamic walking - A long way from simulation to experiment

Englsberger, Johannes and Mesesan, George and Werner, Alexander and Ott, Christian (2018) Torque-based dynamic walking - A long way from simulation to experiment. In: IEEE International Conference on Robotics and Automation ICRA. International Conference on Robotics and Automation (ICRA) 2018, Brisbane, Australien.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/120419/
Document Type:Conference or Workshop Item (Poster)
Title:Torque-based dynamic walking - A long way from simulation to experiment
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Englsberger, Johannesjohannes.englsberger (at) dlr.deUNSPECIFIED
Mesesan, GeorgeGeorge.Mesesan (at) dlr.deUNSPECIFIED
Werner, Alexanderalexander.werner (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Date:2018
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:Walking control, torque-based Walking, Experiment, filter design
Event Title:International Conference on Robotics and Automation (ICRA) 2018
Event Location:Brisbane, Australien
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: Englsberger, Johannes
Deposited On:22 Jun 2018 17:47
Last Modified:22 Jun 2018 17:47

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