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

Englsberger, Johannes and Kozlowski, Pawel and Ott, Christian and 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. ISSN 1552-3098.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/141648/
Document Type:Article
Title:Biologically Inspired Deadbeat control for running: from human analysis to humanoid control and back
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Englsberger, JohannesJohannes.Englsberger (at) dlr.dehttps://orcid.org/0000-0002-8117-2650
Kozlowski, PawelPawel.Kozlowski (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:2016
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1552-3098
Status:Published
Keywords:running, control, planning, gait generation
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) > Analysis and Control of Advanced Robotic Systems
Deposited By: Englsberger, Dr.-Ing. Johannes
Deposited On:28 Apr 2021 14:52
Last Modified:28 Apr 2021 14:52

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