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Inclusion of Angular Momentum During Planning for Capture Point Based Walking

Seyde, Tim and Shrivastava, Apoorv and Englsberger, Johannes and Bertrand, Sylvain and Pratt, Jerry and Griffin, Robert (2018) Inclusion of Angular Momentum During Planning for Capture Point Based Walking. In: IEEE International Conference on Robotics and Automation ICRA. International Conference on Robotics and Automation (ICRA) 2018, Brisbane, Australien.

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Abstract

When walking at high speeds, the swing legs of robots produce a non-negligible angular momentum rate. To accommodate this, we provide a reference trajectory generator for bipedal walking that incorporates predicted centroidal angular momentum at the planning stage. This can be done efficiently as the Centroidal Moment Pivot (CMP), Instantaneous Capture Point (ICP) and the center of mass (CoM) all have closedform trajectory solutions due to their linear dynamics. This is then used to produce smooth, continuous trajectories. We furthermore provide a lightweight model to estimate angular momentum as induced during leg swing of the gait cycle. Our proposed trajectory generator is tested thoroughly in simulation and has been shown to successfully operate on the real hardware.

Item URL in elib:https://elib.dlr.de/130953/
Document Type:Conference or Workshop Item (Poster)
Title:Inclusion of Angular Momentum During Planning for Capture Point Based Walking
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Seyde, Timtseyde (at) ihmc.usUNSPECIFIED
Shrivastava, Apoorvashrivastava (at) ihmc.usUNSPECIFIED
Englsberger, JohannesJohannes.Englsberger (at) dlr.deUNSPECIFIED
Bertrand, Sylvainsbertrand (at) ihmc.usUNSPECIFIED
Pratt, Jerryjpratt (at) ihmc.usUNSPECIFIED
Griffin, Robertrgriffin (at) ihmc.usUNSPECIFIED
Date:May 2018
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:bipedal locomotion, Capture Point, Angular Momentum, Motion Planning
Event Title:International Conference on Robotics and Automation (ICRA) 2018
Event Location:Brisbane, Australien
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: Englsberger, Johannes
Deposited On:22 Nov 2019 09:05
Last Modified:22 Nov 2019 09:05

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