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Seyde, Tim und Shrivastava, Apoorv und Englsberger, Johannes und Bertrand, Sylvain und Pratt, Jerry und 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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Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/130953/ | ||||||||||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||||||||||||||
| Titel: | Inclusion of Angular Momentum During Planning for Capture Point Based Walking | ||||||||||||||||||||||||||||
| Autoren: |
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| Datum: | Mai 2018 | ||||||||||||||||||||||||||||
| Erschienen in: | IEEE International Conference on Robotics and Automation ICRA | ||||||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||||||
| Stichwörter: | bipedal locomotion, Capture Point, Angular Momentum, Motion Planning | ||||||||||||||||||||||||||||
| Veranstaltungstitel: | International Conference on Robotics and Automation (ICRA) 2018 | ||||||||||||||||||||||||||||
| Veranstaltungsort: | Brisbane, Australien | ||||||||||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||||||
| 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: | Englsberger, Dr.-Ing. Johannes | ||||||||||||||||||||||||||||
| Hinterlegt am: | 22 Nov 2019 09:05 | ||||||||||||||||||||||||||||
| Letzte Änderung: | 29 Mär 2023 00:43 |
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- Inclusion of Angular Momentum During Planning for Capture Point Based Walking. (deposited 22 Nov 2019 09:05) [Gegenwärtig angezeigt]
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