Calzolari, Davide und Della Santina, Cosimo und Giordano, Alessandro Massimo und Albu-Schäffer, Alin Olimpiu (2022) Single-Leg Forward Hopping via Nonlinear Modes. In: 2022 American Control Conference, ACC 2022, Seiten 506-513. IEEE. 2022 American Control Conference (ACC), 2022-06-08 - 2022-06-10, Atlanta, GA, USA. doi: 10.23919/ACC53348.2022.9867538. ISBN 978-1-6654-9480-9. ISSN 0743-1619.
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Offizielle URL: https://ieeexplore.ieee.org/document/9867538
Kurzfassung
Implementing dynamic legged locomotion entails stabilizing oscillatory behaviors in complex mechanical systems. Whenever possible, locomotion algorithms should also exploit the improved capabilities of elastic elements added to the structure to improve efficiency and robustness. This work aims to shed some light on implementing generic dynamic locomotion by stabilizing nonlinear modes. The nonlinear modal analysis extends the linear modal theory to nonlinear systems and thus characterizes the oscillations that a robot can execute as autonomous evolutions. We execute forward hopping motions with a single segmented elastic leg as the first step towards generic modal locomotion. We propose a locomotion algorithm that exploits the modes of an extension of the SLIP model. We develop this strategy to generalize to other robotic systems, and we extensively validate it with experiments on an elastically actuated segmented leg.
elib-URL des Eintrags: | https://elib.dlr.de/190238/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Single-Leg Forward Hopping via Nonlinear Modes | ||||||||||||||||||||
Autoren: |
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Datum: | Juni 2022 | ||||||||||||||||||||
Erschienen in: | 2022 American Control Conference, ACC 2022 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
DOI: | 10.23919/ACC53348.2022.9867538 | ||||||||||||||||||||
Seitenbereich: | Seiten 506-513 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISSN: | 0743-1619 | ||||||||||||||||||||
ISBN: | 978-1-6654-9480-9 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Legged locomotion, Motion segmentation, Modal analysis, Heuristic lgorithms Robustness , Trajectory , Mechanical systems | ||||||||||||||||||||
Veranstaltungstitel: | 2022 American Control Conference (ACC) | ||||||||||||||||||||
Veranstaltungsort: | Atlanta, GA, USA | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 8 Juni 2022 | ||||||||||||||||||||
Veranstaltungsende: | 10 Juni 2022 | ||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||
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: | 02 Dez 2022 17:48 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:51 |
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