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Biologically Inspired Deadbeat control for running: from human analysis to humanoid control and back

Englsberger, Johannes und Kozlowski, Pawel und Ott, Christian und Albu-Schäffer, Alin Olimpiu (2016) Biologically Inspired Deadbeat control for running: from human analysis to humanoid control and back. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tro.2016.2581199. ISSN 1552-3098.

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Kurzfassung

This paper works towards bridging the gap between observations and analysis of human running motions, i.e. motion science, and robust humanoid robot control. It is based on the concept of Biologically Inspired Deadbeat (BID) control, which was introduced in [1] and enhanced in [2] to not only allow 3D running on flat ground but also on 3D stepping stones. Further contributions of [2] include explicit foot step targeting during running, leg cross-over avoidance and the embedding of BID control into a QP-based whole-body controller. The controller is based on the encoding of leg forces and CoM trajectories during stance as polynomial splines, allowing for intuitive and primarily analytical controller design. It allows a real-time implementation, is highly robust against perturbations and enables versatile running patterns. This paper combines and complements the methods derived in [1] and [2]. It expatiates on the analytical foot-step targeting method introduced in [2], introduces a new method to increase kinematic feasibility on complex robot models and presents advanced whole-body running simulations including high-speed running and push-recovery. The paper closes the circle to human motion science by comparing BID-based CoM trajectories and ground reaction forces (GRF) to data from human running experiments.

elib-URL des Eintrags:https://elib.dlr.de/141648/
Dokumentart:Zeitschriftenbeitrag
Titel:Biologically Inspired Deadbeat control for running: from human analysis to humanoid control and back
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Englsberger, JohannesJohannes.Englsberger (at) dlr.dehttps://orcid.org/0000-0002-8117-2650NICHT SPEZIFIZIERT
Kozlowski, PawelPawel.Kozlowski (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493NICHT SPEZIFIZIERT
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074142115862
Datum:2016
Erschienen in:IEEE Transactions on Robotics
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Nein
In SCOPUS:Ja
In ISI Web of Science:Ja
DOI:10.1109/tro.2016.2581199
Verlag:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1552-3098
Status:veröffentlicht
Stichwörter:running, control, planning, gait generation
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:28 Apr 2021 14:52
Letzte Änderung:27 Nov 2023 12:52

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