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Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion

Mesesan, George-Adrian and Englsberger, Johannes and Ott, Christian and 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), pp. 3449-3456. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2018.2853557. ISSN 2377-3766.

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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.

Item URL in elib:https://elib.dlr.de/124052/
Document Type:Article
Title:Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Mesesan, George-AdrianUNSPECIFIEDhttps://orcid.org/0000-0001-5110-2988UNSPECIFIED
Englsberger, JohannesUNSPECIFIEDhttps://orcid.org/0000-0002-8117-2650UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115768
Date:5 July 2018
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 3449-3456
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Legged Robots, Humanoid and Bipedal Locomotion, Motion and Path Planning, Computational Geometry, Divergent Component of Motion
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) > Autonomy and Teleoperation
Deposited By: Mesesan, George-Adrian
Deposited On:03 Dec 2018 14:15
Last Modified:02 Nov 2023 10:12

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