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A geometric perspective to robot nonlinear oscillations with application to locomotion

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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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.

Item URL in elib:https://elib.dlr.de/186170/
Document Type:Conference or Workshop Item (Speech)
Title:A geometric perspective to robot nonlinear oscillations with application to locomotion
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115898
Date:12 July 2022
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Robots Interacting, Nonlinear Control, Locomotion
Event Title:Workshop in honor of Jean-Paul
Event Location:Toulouse, France
Event Type:Workshop
Event Start Date:11 July 2022
Event End Date:12 July 2022
Organizer:LAAS, Laboratoire d'Analyse et d'Architecture des Systèmes
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:18 Jul 2022 16:31
Last Modified:24 Apr 2024 20:47

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