elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Online Learning of Centroidal Angular Momentum Towards Enhancing DCM-Based Locomotion

Schuller, Robert and Mesesan, George-Adrian and Englsberger, Johannes and Lee, Jinoh and Ott, Christian (2022) Online Learning of Centroidal Angular Momentum Towards Enhancing DCM-Based Locomotion. In: 2022 IEEE International Conference on Robotics and Automation, ICRA 2022. 2022 IEEE International Conference on Robotics and Automation (ICRA), May 23-27, 2022, Philadelphia, PA, USA. ISSN 1050-4729.

[img] PDF
1MB

Abstract

Gait generation frameworks for humanoid robots typically assume a constant centroidal angular momentum (CAM) throughout the walking cycle, which induces undesirable contact torques in the feet and results in performance degradation. In this work, we present a novel algorithm to learn the CAM online and include the obtained knowledge within the closed-form solutions of the Divergent Component of Motion (DCM) locomotion framework. To ensure a reduction of the contact torques at the desired center of pressure position, a CAM trajectory is generated and explicitly tracked by a whole-body controller. Experiments with the humanoid robot TORO demonstrate that the proposed method substantially increases the maximum step length and walking speed during locomotion.

Item URL in elib:https://elib.dlr.de/186198/
Document Type:Conference or Workshop Item (Other)
Title:Online Learning of Centroidal Angular Momentum Towards Enhancing DCM-Based Locomotion
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Schuller, RobertRobert.Schuller (at) dlr.dehttps://orcid.org/0000-0001-6034-5586
Mesesan, George-AdrianGeorge.Mesesan (at) dlr.dehttps://orcid.org/0000-0001-5110-2988
Englsberger, JohannesJohannes.Englsberger (at) dlr.dehttps://orcid.org/0000-0002-8117-2650
Lee, JinohJinoh.Lee (at) dlr.dehttps://orcid.org/0000-0002-4901-7095
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:23 May 2022
Journal or Publication Title:2022 IEEE International Conference on Robotics and Automation, ICRA 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
ISSN:1050-4729
Status:Accepted
Keywords:Legged locomotion, Online learning, Divergent Component of Motion, Humanoids, Centroidal Angular Momentum
Event Title:2022 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Philadelphia, PA, USA
Event Type:international Conference
Event Dates:May 23-27, 2022
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 - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Schuller, Robert
Deposited On:12 May 2022 18:57
Last Modified:12 May 2022 18:57

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.