Beck, Fabian und Rehermann, Maximilian und Reger, Johann und Ott, Christian (2023) Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions. In: 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022, Seiten 261-268. IEEE. IEEE-RAS 21st International Conference on Humanoid Robots, 2022-11-28 - 2022-11-30, Ginowan, Japan. doi: 10.1109/Humanoids53995.2022.10000146. ISBN 979-835030979-9. ISSN 2164-0572.
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Offizielle URL: https://ieeexplore.ieee.org/document/10000146
Kurzfassung
This work focuses on the energy efficient control of a planar bipedal robot by using elastic elements in the joints for short-term energy storage. The considered biped exhibits three degrees of freedom per leg and each joint is equipped with a series-elastic actuator (SEA). A controller is developed to enable point foot hopping based on the spring loaded inverted pendulum template. The control design was split into the highlevel rigid-body and the elastic dynamics and is validated for hopping motions by numerical simulations. A high-level reference design is proposed, which enables that the elastic system can outperform the corresponding rigid counterpart with regard to energy efficiency in stance phase by more than 50 percent.
elib-URL des Eintrags: | https://elib.dlr.de/194571/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions | ||||||||||||||||||||
Autoren: |
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Datum: | Januar 2023 | ||||||||||||||||||||
Erschienen in: | 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
DOI: | 10.1109/Humanoids53995.2022.10000146 | ||||||||||||||||||||
Seitenbereich: | Seiten 261-268 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISSN: | 2164-0572 | ||||||||||||||||||||
ISBN: | 979-835030979-9 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Robotic control, energy storage, SEA, hopping | ||||||||||||||||||||
Veranstaltungstitel: | IEEE-RAS 21st International Conference on Humanoid Robots | ||||||||||||||||||||
Veranstaltungsort: | Ginowan, 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 | ||||||||||||||||||||
Hinterlegt von: | Geyer, Günther | ||||||||||||||||||||
Hinterlegt am: | 31 Mär 2023 12:23 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:55 |
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