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Smooth trajectory generation and push-recovery based on Divergent Component of Motion

Englsberger, Johannes and Mesesan, George and Ott, Christian (2017) Smooth trajectory generation and push-recovery based on Divergent Component of Motion. In: IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada.

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Abstract

This paper presents a novel multi-step closed-form walking trajectory generator based on the concept of Divergent Component of Motion (DCM) that guarantees smoothness of all resulting reference trajectories. Further, we introduce an analytical method for footstep adjustment to recover from strong disturbances. The DCM trajectory is adjusted to guarantee smoothness of control outputs. Additionally, we present a momentum-based disturbance observer that improves robustness w.r.t. strong continuous perturbations. The proposed methods are verified in simulations.

Item URL in elib:https://elib.dlr.de/130949/
Document Type:Conference or Workshop Item (Speech)
Title:Smooth trajectory generation and push-recovery based on Divergent Component of Motion
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Englsberger, Johannesjohannes.englsberger (at) dlr.dehttps://orcid.org/0000-0002-8117-2650
Mesesan, Georgegeorge.mesesan (at) dlr.dehttps://orcid.org/0000-0001-5110-2988
Ott, Christianchristian.ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:September 2017
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Divergent Component of Motion, Push-recovery, Humanoid Robots, Trajectory Generation
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Vancouver, Canada
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Laufroboter/Lokomotion
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Mesesan, George-Adrian
Deposited On:22 Nov 2019 09:03
Last Modified:22 Nov 2019 09:03

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