Tell a friend
Print
Beck, Fabian and Rehermann, Maximilian and Reger, Johann and 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, pp. 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.
![[img]](https://elib.dlr.de/style/images/fileicons/application_pdf.png) |
PDF
- Only accessible within DLR
835kB |
Official URL: https://ieeexplore.ieee.org/document/10000146
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/194571/ | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions | ||||||||||||||||||||
| Authors: |
| ||||||||||||||||||||
| Date: | January 2023 | ||||||||||||||||||||
| Journal or Publication Title: | 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022 | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||
| DOI: | 10.1109/Humanoids53995.2022.10000146 | ||||||||||||||||||||
| Page Range: | pp. 261-268 | ||||||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||||||
| ISSN: | 2164-0572 | ||||||||||||||||||||
| ISBN: | 979-835030979-9 | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | Robotic control, energy storage, SEA, hopping | ||||||||||||||||||||
| Event Title: | IEEE-RAS 21st International Conference on Humanoid Robots | ||||||||||||||||||||
| Event Location: | Ginowan, Japan | ||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||
| Event Start Date: | 28 November 2022 | ||||||||||||||||||||
| Event End Date: | 30 November 2022 | ||||||||||||||||||||
| Organizer: | IEEE | ||||||||||||||||||||
| 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 - Walking robot/locomotion [RO] | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||||||
| Deposited By: | Geyer, Günther | ||||||||||||||||||||
| Deposited On: | 31 Mar 2023 12:23 | ||||||||||||||||||||
| Last Modified: | 24 Apr 2024 20:55 |
Repository Staff Only: item control page
