Mesesan, George 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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Abstract
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/ | |||||||||||||||
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Document Type: | Article | |||||||||||||||
Title: | Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion | |||||||||||||||
Authors: |
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Date: | 5 July 2018 | |||||||||||||||
Journal or Publication Title: | IEEE Robotics and Automation Letters | |||||||||||||||
Refereed publication: | Yes | |||||||||||||||
Open Access: | Yes | |||||||||||||||
Gold Open Access: | No | |||||||||||||||
In SCOPUS: | Yes | |||||||||||||||
In ISI Web of Science: | Yes | |||||||||||||||
Volume: | 3 | |||||||||||||||
DOI : | 10.1109/LRA.2018.2853557 | |||||||||||||||
Page Range: | pp. 3449-3456 | |||||||||||||||
Publisher: | IEEE - Institute of Electrical and Electronics Engineers | |||||||||||||||
ISSN: | 2377-3766 | |||||||||||||||
Status: | Published | |||||||||||||||
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: | 14 Dec 2019 04:23 |
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