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Garofalo, Gianluca and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2012) Walking control of fully actuated robots based on the Bipedal SLIP model. Dynamic Walking 2012, 2012-05-21 - 2012-05-24, 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/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Poster) | ||||||||||||||||
| Title: | Walking control of fully actuated robots based on the Bipedal SLIP model | ||||||||||||||||
| Authors: |
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| 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 Start Date: | 21 May 2012 | ||||||||||||||||
| Event End Date: | 24 May 2012 | ||||||||||||||||
| 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 (until 2012) | ||||||||||||||||
| Deposited By: | Garofalo, Dr. Ing. Gianluca | ||||||||||||||||
| Deposited On: | 07 Jan 2014 17:14 | ||||||||||||||||
| Last Modified: | 04 Feb 2025 09:25 |
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