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Bipedal Walking Control based on Capture Point Dynamics

Englsberger, Johannes and Ott, Christian and Roa, Maximo and Albu-Schäffer, Alin and Hirzinger, Gerd (2011) Bipedal Walking Control based on Capture Point Dynamics. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4420-4427. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, USA.

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Abstract

This paper builds up on the Capture Point concept and exploits the simple form of the dynamical equations of the Linear Inverted Pendulum model when formulated in terms of the center of mass and the Capture Point. The presented methods include (i) the derivation of a Capture Point (CP) control principle based on the natural dynamics of the linear inverted pendulum (LIP), which stabilizes the walking robot and motivates (ii) the design of a CP tracking and a CP endof- step controller. The exponential stability of the CP control law is proven. Tilting is avoided by proper projection of the commanded zero moment point. The robustness of the derived control algorithms is analyzed analytically and verified in simulation and experiments.

Item URL in elib:https://elib.dlr.de/73495/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Bipedal Walking Control based on Capture Point Dynamics
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Englsberger, Johannesjohannes.englsberger (at) dlr.deUNSPECIFIED
Ott, Christianchristian.ott (at) dlr.deUNSPECIFIED
Roa, Maximomaximo.roagarzon (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Hirzinger, Gerdgerd.hirzinger (at) dlr.deUNSPECIFIED
Date:2011
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 4420-4427
Status:Published
Keywords:Bipedal Robot, Walking Control, Humanoid Robot, Capture Point
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:San Francisco, USA
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Laufroboter/Lokomotion
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Ott, Dr. Christian
Deposited On:09 Jan 2012 11:11
Last Modified:09 Jan 2012 11:11

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