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A method for rough terrain locomotion based on Divergent Component of Motion

Englsberger, Johannes and Ott, Christian and Albu-Schäffer, Alin (2013) A method for rough terrain locomotion based on Divergent Component of Motion. DGR-Tage (Deutsche Gesellschaft für Robotik), 07.-08. Okt. 2013, München.

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Abstract—For humanoid robots to be used in real world scenarios, there is a need of robust and simple walking controllers. Limitation to flat terrain is a drawback of many walking controllers. We overcome this limitation by extending the concept of Divergent Component of Motion (DCM, also called ‘Capture Point’) to 3D. Therefor, we introduce the “Enhanced Centroidal Moment Pivot point” (eCMP) and the “Virtual Repellent Point” (VRP), which allow for a very intuitive understanding of the robot’s CoM dynamics. Based on eCMP, VRP and DCM, we present a method for real-time planning and control of DCM trajectories in 3D.

Item URL in elib:https://elib.dlr.de/87254/
Document Type:Conference or Workshop Item (Speech)
Title:A method for rough terrain locomotion based on Divergent Component of Motion
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Englsberger, Johannesjohannes.englsberger (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:7 October 2013
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:bipedal walking control, Gangregelung, Planung, Regelung, dreidimensional
Event Title:DGR-Tage (Deutsche Gesellschaft für Robotik)
Event Location:München
Event Type:national Conference
Event Dates:07.-08. Okt. 2013
Organizer:Deutsche Gesellschaft für Robotik
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 Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Englsberger, Johannes
Deposited On:08 Jan 2014 10:01
Last Modified:31 Jul 2019 19:44

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