Albu-Schäffer, Alin Olimpiu (2022) A geometric perspective to robot nonlinear oscillations with application to locomotion. Workshop in honor of Jean-Paul, 2022-07-11 - 2022-07-12, Toulouse, France.
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Kurzfassung
Controlling motion at low energetic cost, both from mechanical and computational point of view, certainly constitutes one of the major locomotion challenges in biology and robotics. Jean-Paul Laumonde inspired the robotics research community by his geometric approach to understanding biological locomotion principles and transferring them to robots. On this line of thoughts, we attempt to demonstrate that robots can be designed and controlled to walk highly efficient by exploiting resonance body effects, increasing the performance compared to rigid body designs. To do so, however, legged robots need to achieve limit cycle motions of the highly coupled, non-linear body dynamics. This led us to the research of the still not very well understood phenomena of nonlinear system modal oscillations. It turns out that differential geometry is the adequate tool to frame this theory. I will present recent results in this direction from my ERC Advanced Grant project M-Runners.
elib-URL des Eintrags: | https://elib.dlr.de/186170/ | ||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||
Titel: | A geometric perspective to robot nonlinear oscillations with application to locomotion | ||||||||
Autoren: |
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Datum: | 12 Juli 2022 | ||||||||
Referierte Publikation: | Nein | ||||||||
Open Access: | Nein | ||||||||
Gold Open Access: | Nein | ||||||||
In SCOPUS: | Nein | ||||||||
In ISI Web of Science: | Nein | ||||||||
Status: | veröffentlicht | ||||||||
Stichwörter: | Robots Interacting, Nonlinear Control, Locomotion | ||||||||
Veranstaltungstitel: | Workshop in honor of Jean-Paul | ||||||||
Veranstaltungsort: | Toulouse, France | ||||||||
Veranstaltungsart: | Workshop | ||||||||
Veranstaltungsbeginn: | 11 Juli 2022 | ||||||||
Veranstaltungsende: | 12 Juli 2022 | ||||||||
Veranstalter : | LAAS, Laboratoire d'Analyse et d'Architecture des Systèmes | ||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||
HGF - Programm: | Raumfahrt | ||||||||
HGF - Programmthema: | Robotik | ||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [RO] | ||||||||
Standort: | Oberpfaffenhofen | ||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||
Hinterlegt am: | 18 Jul 2022 16:31 | ||||||||
Letzte Änderung: | 24 Apr 2024 20:47 |
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