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Using Elastically Actuated Legged Robots in Rough Terrain: Experiments with DLR Quadruped bert

Seidel, Daniel and Hermann, Milan and Gumpert, Thomas and Loeffl, Florian Christoph and Albu-Schäffer, Alin (2020) Using Elastically Actuated Legged Robots in Rough Terrain: Experiments with DLR Quadruped bert. In: 2020 IEEE Aerospace Conference, AERO 2020, pp. 1-8. IEEE. 2020 IEEE Aerospace Conference, 7.-14. März 2020, Big Sky, USA. doi: 10.1109/AERO47225.2020.9172301. ISBN 978-172812734-7. ISSN 1095-323X.

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Official URL: https://ieeexplore.ieee.org/document/9172301

Abstract

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.

Item URL in elib:https://elib.dlr.de/139409/
Document Type:Conference or Workshop Item (Speech)
Title:Using Elastically Actuated Legged Robots in Rough Terrain: Experiments with DLR Quadruped bert
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Seidel, Danieldaniel.seidel (at) dlr.dehttps://orcid.org/0000-0002-2240-3850
Hermann, Milanmilan.hermann (at) dlr.deUNSPECIFIED
Gumpert, ThomasThomas.Gumpert (at) dlr.deUNSPECIFIED
Loeffl, Florian Christophflorian.loeffl (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074
Date:7 March 2020
Journal or Publication Title:2020 IEEE Aerospace Conference, AERO 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/AERO47225.2020.9172301
Page Range:pp. 1-8
Publisher:IEEE
ISSN:1095-323X
ISBN:978-172812734-7
Status:Published
Keywords:actuators, elasticity, gait analysis, legged locomotion, torque control
Event Title:2020 IEEE Aerospace Conference
Event Location:Big Sky, USA
Event Type:international Conference
Event Dates:7.-14. März 2020
Organizer:IEEE
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)
Deposited By: Seidel, Daniel
Deposited On:09 Dec 2020 22:40
Last Modified:09 Dec 2020 22:40

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