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Choe, JongHun und Kim, Joon-Ha und Hong, Seungwoo und Lee, Jinoh und Park, Hae-Won (2023) Seamless Reaction Strategy for Bipedal Locomotion Exploiting Real-Time Nonlinear Model Predictive Control. IEEE Robotics and Automation Letters, 8 (8), Seiten 5031-5038. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3291273. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/10168974
Kurzfassung
This paper presents a reactive locomotion method for bipedal robots enhancing robustness and external distur- bance rejection performance by seamlessly rendering several walking strategies of the ankle, hip, and footstep adjustment. The Nonlinear Model Predictive Control (NMPC) is formulated to take into account nonlinear Divergent Component of Motion (DCM) error dynamics that predicts the future states of the robot in response to the walking strategies. This formulated NMPC enables the seamless application of these strategies improving push disturbance rejection performance. The proposed controller is validated in simulation and through an experiment on a bipedal robot platform, Gazelle, which confirms its effectiveness in real-time.
| elib-URL des Eintrags: | https://elib.dlr.de/195856/ | ||||||||||||||||||||||||
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| Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||
| Titel: | Seamless Reaction Strategy for Bipedal Locomotion Exploiting Real-Time Nonlinear Model Predictive Control | ||||||||||||||||||||||||
| Autoren: |
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| Datum: | 30 Juni 2023 | ||||||||||||||||||||||||
| Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||||||||||
| Band: | 8 | ||||||||||||||||||||||||
| DOI: | 10.1109/LRA.2023.3291273 | ||||||||||||||||||||||||
| Seitenbereich: | Seiten 5031-5038 | ||||||||||||||||||||||||
| Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
| ISSN: | 2377-3766 | ||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||
| Stichwörter: | humanoids; locomotion; whole-body control; push recovery | ||||||||||||||||||||||||
| 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: | Lee, Dr. Jinoh | ||||||||||||||||||||||||
| Hinterlegt am: | 06 Jul 2023 14:25 | ||||||||||||||||||||||||
| Letzte Änderung: | 28 Jul 2023 09:36 |
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