Egle, Tobias und Englsberger, Johannes und Ott, Christian (2023) Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions. In: 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022. IEEE. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), 2022-11-28 - 2022-11-30, Ginowan City, Okinawa, Japan. doi: 10.1109/Humanoids53995.2022.10000236. ISBN 979-835030979-9. ISSN 2164-0572.
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Offizielle URL: https://ieeexplore.ieee.org/document/10000236
Kurzfassung
We present an analytical trajectory generation framework for the combined computation of multiple walking and running sequences with continuous gait transitions. This framework builds on the Divergent Component of Motion (DCM)-based walking algorithm and the spline-based trajectory generation of the Biologically Inspired Deadbeat (BID) control for running. We describe our approach to generating closed-form center of mass (CoM) trajectories for walking and running by alternately linking the two gaits through continuity constraints. Thereby, we distinguish between vertical and horizontal planning. The vertical trajectory is computed in a forward recursion from the first to the last gait sequence. Due to the coupling of the gait sequences in the horizontal direction, we show the efficient generation of the horizontal CoM trajectory in a single matrix calculation. Subsequently, we unify the control strategies using a DCM tracking controller for the complete trajectory and integrate the proposed framework into an inverse dynamics-based whole-body controller. Finally, the presented approaches are validated in simulations with the humanoid robot Toro.
elib-URL des Eintrags: | https://elib.dlr.de/193657/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions | ||||||||||||||||
Autoren: |
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Datum: | 5 Januar 2023 | ||||||||||||||||
Erschienen in: | 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/Humanoids53995.2022.10000236 | ||||||||||||||||
Verlag: | IEEE | ||||||||||||||||
ISSN: | 2164-0572 | ||||||||||||||||
ISBN: | 979-835030979-9 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | humanoid robot, legged robot, walking, running, transition between walking and running, planning, control | ||||||||||||||||
Veranstaltungstitel: | IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022) | ||||||||||||||||
Veranstaltungsort: | Ginowan City, Okinawa, Japan | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 28 November 2022 | ||||||||||||||||
Veranstaltungsende: | 30 November 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 - Laufroboter/Lokomotion [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Englsberger, Dr.-Ing. Johannes | ||||||||||||||||
Hinterlegt am: | 27 Jan 2023 11:00 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:54 |
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