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Walking control of fully actuated robots based on the Bipedal SLIP model

Garofalo, Gianluca and Ott, Christian and Albu-Schäffer, Alin (2012) Walking control of fully actuated robots based on the Bipedal SLIP model. Dynamic Walking 2012, 21-24 May 2012, Florida, USA.

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Abstract

Everyone has experienced that different kind of walking patterns are applied when moving on different terrains and with different goals. Beside the usual distinction between walking and running, in fact, it should also be considered that walking trying to avoid obstacles is different from walking on a flat obstacles-free surface. In the latter case everyone will walk "without thinking", to a more or less constant speed, in the most comfortable way possible. It is then quite natural to try to reproduce stable periodic walking patterns also for the robot. We are interested in an adaptable behaviour, meaning that the robot should be able to reproduce different walking motions and in particular different periodic gaits. Therefore we need to influence via the controller the dynamics of the robot.

Item URL in elib:https://elib.dlr.de/87256/
Document Type:Conference or Workshop Item (Poster)
Title:Walking control of fully actuated robots based on the Bipedal SLIP model
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garofalo, Gianlucagianluca.garofalo (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:2012
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:SLIP, two layer control architecture, energy control law
Event Title:Dynamic Walking 2012
Event Location:Florida, USA
Event Type:international Conference
Event Dates:21-24 May 2012
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 (until 2012)
Deposited By: Garofalo, Dr. Ing. Gianluca
Deposited On:07 Jan 2014 17:14
Last Modified:13 Jul 2016 17:29

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  • Walking control of fully actuated robots based on the Bipedal SLIP model. (deposited 07 Jan 2014 17:14) [Currently Displayed]

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