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Englsberger, Johannes and Ott, Christian and Albu-Schäffer, Alin Olimpiu (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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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/87255/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | Three-dimensional bipedal walking control using Divergent Component of Motion | ||||||||||||||||
| Authors: |
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| Date: | November 2013 | ||||||||||||||||
| Journal or Publication Title: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | Yes | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||
| DOI: | 10.1109/IROS.2013.6696723 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | bipedal walking control, rough terrain, threedimensional, planning, control | ||||||||||||||||
| Event Title: | International Conference on Intelligent Robots and Systems (IROS), 2013 | ||||||||||||||||
| Event Location: | Tokyo, Japan | ||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||
| Event Start Date: | 3 November 2013 | ||||||||||||||||
| Event End Date: | 8 November 2013 | ||||||||||||||||
| 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 10:02 | ||||||||||||||||
| Last Modified: | 04 Feb 2025 09:25 |
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