Englsberger, Johannes und Mesesan, George und Ott, Christian und Albu-Schäffer, Alin (2018) DCM-based gait generation for walking on moving support surfaces. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2018-11-06 - 2018-11-09, Beijing, China. doi: 10.1109/HUMANOIDS.2018.8625006. ISSN 2164-0572.
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Kurzfassung
This paper presents a novel walking gait generator that allows the successful traversal of moving support surfaces such as conveyor belts, moving plates and escalators. The gait generator previews all steps of a complete gait sequence, while providing efficient matrix-vector based computations. The moving support surfaces are explicitly taken into account for the trajectory design. Multiple successful simulations of walking on different non-stationary ground surfaces prove the high quality of the proposed walking gait generator.
elib-URL des Eintrags: | https://elib.dlr.de/130952/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | DCM-based gait generation for walking on moving support surfaces | ||||||||||||||||||||
Autoren: |
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Datum: | November 2018 | ||||||||||||||||||||
Erschienen in: | IEEE-RAS International Conference on Humanoid Robots | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
DOI: | 10.1109/HUMANOIDS.2018.8625006 | ||||||||||||||||||||
ISSN: | 2164-0572 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Divergent Component of Motion, Moving Ground, Dynamic Walking | ||||||||||||||||||||
Veranstaltungstitel: | IEEE-RAS International Conference on Humanoid Robots (Humanoids) | ||||||||||||||||||||
Veranstaltungsort: | Beijing, China | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 6 November 2018 | ||||||||||||||||||||
Veranstaltungsende: | 9 November 2018 | ||||||||||||||||||||
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 - Laufroboter/Lokomotion [SY] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Mesesan, George-Adrian | ||||||||||||||||||||
Hinterlegt am: | 22 Nov 2019 09:03 | ||||||||||||||||||||
Letzte Änderung: | 05 Jun 2024 08:50 |
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