Mesesan, George-Adrian und Englsberger, Johannes und Ott, Christian und Albu-Schäffer, Alin (2018) Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion. IEEE Robotics and Automation Letters, 3 (4), Seiten 3449-3456. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2018.2853557. ISSN 2377-3766.
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Kurzfassung
This paper presents an in-depth analysis of the convex properties of center of mass (CoM) trajectories for legged robot locomotion based on the concept of Divergent Component of Motion (DCM). In particular, we show that the union of all possible trajectories forms a bounded convex set under appropriate boundary conditions. Additionally, we describe in detail our approach of generating closed-form CoM trajectory via piecewise interpolation over a sequence of waypoints, and show how to compute the CoM trajectory efficiently through equations given in matrix form. Applying the convex properties to our trajectory generation approach, we present an algorithm for computing convex overapproximations of the CoM waypoints. Finally, we provide an example of usage in placing waypoints that lead to feasible CoM trajectories with respect to kinematic and dynamic constraints. The approach is validated with a multi-contact scenario in simulation with the humanoid robot TORO.
elib-URL des Eintrags: | https://elib.dlr.de/124052/ | ||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||
Titel: | Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion | ||||||||||||||||||||
Autoren: |
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Datum: | 5 Juli 2018 | ||||||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
Band: | 3 | ||||||||||||||||||||
DOI: | 10.1109/LRA.2018.2853557 | ||||||||||||||||||||
Seitenbereich: | Seiten 3449-3456 | ||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Legged Robots, Humanoid and Bipedal Locomotion, Motion and Path Planning, Computational Geometry, Divergent Component of Motion | ||||||||||||||||||||
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) > Autonomie und Fernprogrammierung | ||||||||||||||||||||
Hinterlegt von: | Mesesan, George-Adrian | ||||||||||||||||||||
Hinterlegt am: | 03 Dez 2018 14:15 | ||||||||||||||||||||
Letzte Änderung: | 02 Nov 2023 10:12 |
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