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Englsberger, Johannes and Mesesan, George and Ott, Christian and Albu-Schäffer, Alin Olimpiu (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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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/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | DCM-based gait generation for walking on moving support surfaces | ||||||||||||||||||||
| Authors: |
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| 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 | ||||||||||||||||||||
| DOI: | 10.1109/HUMANOIDS.2018.8625006 | ||||||||||||||||||||
| ISSN: | 2164-0572 | ||||||||||||||||||||
| 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 | ||||||||||||||||||||
| Event Start Date: | 6 November 2018 | ||||||||||||||||||||
| Event End Date: | 9 November 2018 | ||||||||||||||||||||
| 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 - Walking Robotics/Locomotion [SY] | ||||||||||||||||||||
| 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: | 04 Feb 2025 09:25 |
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