Tell a friend
Print
Englsberger, Johannes and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2013) A method for rough terrain locomotion based on Divergent Component of Motion. DGR-Tage (Deutsche Gesellschaft für Robotik), 2013-10-07 - 2013-10-08, München.
![[img]](https://elib.dlr.de/style/images/fileicons/application_pdf.png) |
PDF
237kB |
Abstract
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 | ||||||||||||||||
| Authors: |
| ||||||||||||||||
| Date: | 7 October 2013 | ||||||||||||||||
| Refereed publication: | No | ||||||||||||||||
| Open Access: | Yes | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | bipedal walking control, Gangregelung, Planung, Regelung, dreidimensional | ||||||||||||||||
| Event Title: | DGR-Tage (Deutsche Gesellschaft für Robotik) | ||||||||||||||||
| Event Location: | München | ||||||||||||||||
| Event Type: | national Conference | ||||||||||||||||
| Event Start Date: | 7 October 2013 | ||||||||||||||||
| Event End Date: | 8 October 2013 | ||||||||||||||||
| Organizer: | Deutsche Gesellschaft für Robotik | ||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||
| DLR - Research theme (Project): | R - Terrestrial Assistance Robotics (old) | ||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||
| Deposited By: | Englsberger, Dr.-Ing. Johannes | ||||||||||||||||
| Deposited On: | 08 Jan 2014 10:01 | ||||||||||||||||
| Last Modified: | 04 Feb 2025 09:25 |
Repository Staff Only: item control page
