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Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking

Englsberger, Johannes and Ott, Christian (2012) Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking. International Conference on Humanoid Robots (Humanoids 2012), 29. Nov. - 1. Dez. 2012, Osaka, Japan.

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Abstract

In this paper, we demonstrate methods for bipedal walking control based on the Capture Point (CP) methodology. In particular, we introduce a method to intuitively derive a CP reference trajectory from the next three steps and extend the linear inverted pendulum (LIP) based CP tracking controller introduced in [1], generalizing it to a model that contains vertical CoM motions and changes in angular momentum. Respecting the dynamics of general multibody systems, we propose a measurement-based compensation of multi-body effects, which leads to a stable closed-loop dynamics of bipedal walking robots. In addition we propose a ZMP projection method, which prevents the robots feet from tilting and ensures the best feasible CP tracking. The extended CP controller’s performance is validated in OpenHRP3 [2] simulations and compared to the controller proposed in [1].

Item URL in elib:https://elib.dlr.de/79926/
Document Type:Conference or Workshop Item (Poster)
Title:Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Englsberger, Johannesjohannes.englsberger (at) dlr.deUNSPECIFIED
Ott, Christianchristian.ott (at) dlr.deUNSPECIFIED
Date:2012
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Laufmaschine, bipedal robot, walking control, Capture Point
Event Title:International Conference on Humanoid Robots (Humanoids 2012)
Event Location:Osaka, Japan
Event Type:international Conference
Event Dates:29. Nov. - 1. Dez. 2012
Organizer:IEEE
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 - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Englsberger, Johannes
Deposited On:19 Dec 2012 11:04
Last Modified:31 Jul 2019 19:39

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