Seidel, Daniel und Hermann, Milan und Gumpert, Thomas und Loeffl, Florian Christoph und Albu-Schäffer, Alin (2020) Using Elastically Actuated Legged Robots in Rough Terrain: Experiments with DLR Quadruped bert. In: 2020 IEEE Aerospace Conference, AERO 2020, Seiten 1-8. IEEE. 2020 IEEE Aerospace Conference, 2020-03-07 - 2020-03-14, Big Sky, USA. doi: 10.1109/AERO47225.2020.9172301. ISBN 978-172812734-7. ISSN 1095-323X.
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Offizielle URL: https://ieeexplore.ieee.org/document/9172301
Kurzfassung
This paper addresses walking and balancing in rough terrain for legged locomotion in planetary exploration as an alternative to the commonly used wheeled locomotion. In contrast to the latter, where active balancing is not necessary, legged locomotion requires constant effort to keep the main body stabilized during motion. While common quadrupedal robots require to carefully plan motions through torque control and force distribution, this paper presents an approach where elastic elements in the drive train function as an intrinsic balancing component that allows to ignore inaccuracies in the locomotion pattern and passively accommodate for terrain unevenness. The approach proposes a static walking gait algorithm, which is formulated for a general quadrupedal robot, and a hardware foot design to support the locomotion pattern. The method is experimentally tested on an elastically actuated quadrupedal robot.
elib-URL des Eintrags: | https://elib.dlr.de/139409/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
Titel: | Using Elastically Actuated Legged Robots in Rough Terrain: Experiments with DLR Quadruped bert | ||||||||||||||||||||||||
Autoren: |
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Datum: | 7 März 2020 | ||||||||||||||||||||||||
Erschienen in: | 2020 IEEE Aerospace Conference, AERO 2020 | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||
DOI: | 10.1109/AERO47225.2020.9172301 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 1-8 | ||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||
ISSN: | 1095-323X | ||||||||||||||||||||||||
ISBN: | 978-172812734-7 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | actuators, elasticity, gait analysis, legged locomotion, torque control | ||||||||||||||||||||||||
Veranstaltungstitel: | 2020 IEEE Aerospace Conference | ||||||||||||||||||||||||
Veranstaltungsort: | Big Sky, USA | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 7 März 2020 | ||||||||||||||||||||||||
Veranstaltungsende: | 14 März 2020 | ||||||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||||||
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) | ||||||||||||||||||||||||
Hinterlegt von: | Seidel, Daniel | ||||||||||||||||||||||||
Hinterlegt am: | 09 Dez 2020 22:40 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:40 |
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