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DCM-based gait generation for walking on moving support surfaces

Englsberger, Johannes and Mesesan, George and Ott, Christian and 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), Beijing, China.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/130952/
Document Type:Conference or Workshop Item (Speech)
Title:DCM-based gait generation for walking on moving support surfaces
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
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074
Date:November 2018
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
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, Moving Ground, Dynamic Walking
Event Title:IEEE-RAS International Conference on Humanoid Robots (Humanoids)
Event Location:Beijing, China
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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