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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: 39th 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. doi: 10.1109/ICRA46639.2022.9811708. ISBN 978-172819681-7. ISSN 1050-4729.

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Official URL: https://ieeexplore.ieee.org/document/9811708

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 iDORCID Put Code
Schuller, RobertUNSPECIFIEDhttps://orcid.org/0000-0001-6034-5586UNSPECIFIED
Mesesan, George-AdrianUNSPECIFIEDhttps://orcid.org/0000-0001-5110-2988UNSPECIFIED
Englsberger, JohannesUNSPECIFIEDhttps://orcid.org/0000-0002-8117-2650UNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:23 May 2022
Journal or Publication Title:39th IEEE International Conference on Robotics and Automation, ICRA 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/ICRA46639.2022.9811708
ISSN:1050-4729
ISBN:978-172819681-7
Status:Published
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:27 Oct 2023 15:29

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