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Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control

Mesesan, George and Englsberger, Johannes and Garofalo, Gianluca and Ott, Christian and Albu-Schäffer, Alin (2019) Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada. doi: 10.1109/Humanoids43949.2019.9035053. ISSN 2164-0572.

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This paper presents a complete trajectory generation and control approach for achieving a robust dynamic walking gait for humanoid robots over compliant and uneven terrain. The work uses the concept of Divergent Component of Motion (DCM) for generating the center of mass (CoM) trajectory, and Cartesian polynomial trajectories for the feet. These reference trajectories are tracked by a passivity-based whole-body controller, which computes the joint torques for commanding our torque-controlled humanoid robot TORO. We provide the implementation details regarding the trajectory generation and control that help preventing discontinuities in the commanded joint torques, which facilitates precise trajectory tracking and robust locomotion. We present extensive experimental results of TORO walking over rough terrain, grass, and, to the best of our knowledge, the first report of a humanoid robot walking over a soft gym mattress.

Item URL in elib:https://elib.dlr.de/130765/
Document Type:Conference or Workshop Item (Speech)
Title:Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Mesesan, GeorgeUNSPECIFIEDhttps://orcid.org/0000-0001-5110-2988UNSPECIFIED
Englsberger, JohannesUNSPECIFIEDhttps://orcid.org/0000-0002-8117-2650UNSPECIFIED
Garofalo, GianlucaUNSPECIFIEDhttps://orcid.org/0000-0002-7481-3464UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115806
Date:October 2019
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Dynamic Walking, Uneven Terrain, Compliant Terrain, Divergent Component of Motion, Passivity-based Control, Whole-body Torque Control
Event Title:IEEE-RAS International Conference on Humanoid Robots (Humanoids)
Event Location:Toronto, Canada
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 - Autonomy & Dexterity [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Mesesan, George-Adrian
Deposited On:19 Nov 2019 11:28
Last Modified:11 Sep 2023 13:23

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