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Sovukluk, Sait und Englsberger, Johannes und Ott, Christian (2023) Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study. In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, Seiten 10390-10396. IEEE. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023-10-01 - 2023-10-05, Detroit, MI, USA. doi: 10.1109/IROS55552.2023.10341391. ISBN 978-166549190-7. ISSN 2153-0858.
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Offizielle URL: https://ieeexplore.ieee.org/document/10341391
Kurzfassung
This study extends the whole-body control (WBC) formulation for bipedal humanoid robots that include closed (parallel) kinematic chains in their structure. Along with general formulation, we also stress the implementation of this formulation on Kangaroo, which is a highly dynamic humanoid robot developed by PAL Robotics. This 76-DOF robot includes 24 independent closed-kinematic chains in its structure and constitutes a good case study for our approach. We discuss the WBC formulation for various control structures, including inverse dynamics control (IDC) and Modular Passive Tracking Control (MPTC). As a test scenario, we employ a 3D spring-loaded inverted pendulum (SLIP) jumping trajectory with disturbance rejection as the desired CoM trajectory.
| elib-URL des Eintrags: | https://elib.dlr.de/202324/ | ||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
| Titel: | Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study | ||||||||||||||||
| Autoren: |
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| Datum: | Dezember 2023 | ||||||||||||||||
| Erschienen in: | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 | ||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||
| Open Access: | Ja | ||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||
| DOI: | 10.1109/IROS55552.2023.10341391 | ||||||||||||||||
| Seitenbereich: | Seiten 10390-10396 | ||||||||||||||||
| Verlag: | IEEE | ||||||||||||||||
| ISSN: | 2153-0858 | ||||||||||||||||
| ISBN: | 978-166549190-7 | ||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||
| Stichwörter: | running, controls, spring-loaded inverted pendulum, humanoid robot | ||||||||||||||||
| Veranstaltungstitel: | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||||
| Veranstaltungsort: | Detroit, MI, USA | ||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
| Veranstaltungsbeginn: | 1 Oktober 2023 | ||||||||||||||||
| Veranstaltungsende: | 5 Oktober 2023 | ||||||||||||||||
| Veranstalter : | IEEE/RSJ | ||||||||||||||||
| 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) | ||||||||||||||||
| Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||
| Hinterlegt am: | 23 Jan 2024 15:18 | ||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 21:02 |
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