Sovukluk, Sait und Englsberger, Johannes und Ott, Christian (2023) Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics. IEEE Robotics and Automation Letters, 9 (2), Seiten 1131-1138. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3342668. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/10356666
Kurzfassung
Spring loaded inverted pendulum (SLIP) is a template dynamics used to model the steady-state running of humans and animals ranging from cockroaches to horses. This study extends the conventional 3D SLIP model with a foot and an active controller to also model transitioning from stationary to high-speed running and vice versa. It also compares behavioral differences between the conventional deadbeat-controlled 3D SLIP and actively controlled 3D SLIP with a foot, especially during trajectory transitioning. Focusing on humanoid robots, the objective is to enhance the system's trajectory switching and the disturbance rejection performance while keeping the trajectories implementable and forces feasible for the whole body dynamics. The results are verified on a humanoid robot Kangaroo through simulations in MuJoCo.
elib-URL des Eintrags: | https://elib.dlr.de/202330/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics | ||||||||||||||||
Autoren: |
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Datum: | 13 Dezember 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: | 9 | ||||||||||||||||
DOI: | 10.1109/LRA.2023.3342668 | ||||||||||||||||
Seitenbereich: | Seiten 1131-1138 | ||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | running, controls, spring-loaded inverted pendulum, SLIP, humanoid robot | ||||||||||||||||
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 14:57 | ||||||||||||||||
Letzte Änderung: | 23 Jan 2024 14:57 |
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