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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: 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE. International Conference on Robotics and Automation (ICRA) 2018, Brisbane, Australien. doi: 10.1109/ICRA.2018.8462862. ISBN 978-153863081-5. ISSN 1050-4729.

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Official URL: https://ieeexplore.ieee.org/document/8462862


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
AuthorsInstitution or Email of AuthorsAuthor's 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
Journal or Publication Title:2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1109/ICRA.2018.8462862
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 System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Walking Robotics/Locomotion [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Englsberger, Dr.-Ing. Johannes
Deposited On:22 Jun 2018 17:47
Last Modified:11 Mar 2022 16:39

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