Seidel, Daniel und Lakatos, Dominic und Albu-Schäffer, Alin Olimpiu (2018) Data-Driven Discrete Planning for Targeted Hopping of Compliantly Actuated Robotic Legs. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. IROS, International Conference on Intelligent Robots and Systems, 2019-10-01 - 2019-10-05, Madrid, Spain. doi: 10.1109/IROS.2018.8593819. ISBN 978-153868094-0. ISSN 2153-0858.
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Kurzfassung
Motion planning for fast locomotion of compliantly actuated robotic legs is generally considered to be a challenging issue, posing considerable real-time problems. This is at least the case if time-continuous trajectories need to be generated online. In this paper we take advantage of a simple controller structure, which reduces the motion planning to a discrete-time planning problem, in which only a small set of input parameters need to be determined for each step. We show that for a planar leg with serial elastic actuation, hopping on a ground with stairs of irregular length and height can be planned online, based on a parameter mapping which has been learned in a data-driven manner by performing hopping trials with an adaptive exploration algorithm to evenly sample the parameter space. Experiments on a planar hopping leg prototype validate the approach.
elib-URL des Eintrags: | https://elib.dlr.de/127640/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Data-Driven Discrete Planning for Targeted Hopping of Compliantly Actuated Robotic Legs | ||||||||||||||||
Autoren: |
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Datum: | 1 Oktober 2018 | ||||||||||||||||
Erschienen in: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/IROS.2018.8593819 | ||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||
ISBN: | 978-153868094-0 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Motion planning, locomotion, robotic | ||||||||||||||||
Veranstaltungstitel: | IROS, International Conference on Intelligent Robots and Systems | ||||||||||||||||
Veranstaltungsort: | Madrid, Spain | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 1 Oktober 2019 | ||||||||||||||||
Veranstaltungsende: | 5 Oktober 2019 | ||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||
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 - On-Orbit Servicing [SY] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||||||
Hinterlegt am: | 03 Jun 2019 09:57 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:31 |
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