Englsberger, Johannes und Ott, Christian und Albu-Schäffer, Alin (2013) Three-dimensional bipedal walking control using Divergent Component of Motion. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. International Conference on Intelligent Robots and Systems (IROS), 2013, 2013-11-03 - 2013-11-08, Tokyo, Japan. doi: 10.1109/IROS.2013.6696723.
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Kurzfassung
Abstract—In this paper, we extend the Divergent Component of Motion (DCM, also called ‘Capture Point’) to 3D. We introduce the “Enhanced Centroidal Moment Pivot point” (eCMP) and the “Virtual Repellent Point” (VRP), which allow for the encoding of both direction and magnitude of the external (e.g. leg) forces and the total force (i.e. external forces plus gravity) acting on the robot. Based on eCMP, VRP and DCM, we present a method for real-time planning and control of DCM trajectories in 3D. We address the problem of underactuation and propose methods to guarantee feasibility of the finally commanded forces. The capabilities of the proposed control framework are verified in simulations.
elib-URL des Eintrags: | https://elib.dlr.de/87255/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Three-dimensional bipedal walking control using Divergent Component of Motion | ||||||||||||||||
Autoren: |
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Datum: | November 2013 | ||||||||||||||||
Erschienen in: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/IROS.2013.6696723 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | bipedal walking control, rough terrain, threedimensional, planning, control | ||||||||||||||||
Veranstaltungstitel: | International Conference on Intelligent Robots and Systems (IROS), 2013 | ||||||||||||||||
Veranstaltungsort: | Tokyo, Japan | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 3 November 2013 | ||||||||||||||||
Veranstaltungsende: | 8 November 2013 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Englsberger, Dr.-Ing. Johannes | ||||||||||||||||
Hinterlegt am: | 08 Jan 2014 10:02 | ||||||||||||||||
Letzte Änderung: | 07 Jun 2024 10:39 |
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