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Petric, Tadej and Zlajpah, Leon and Garofalo, Gianluca and Ott, Christian (2013) Walking Control Using Adaptive Oscillators Combined with Dynamic Movement Primitives. In: 22nd International Workshop on Robotics in Alpe-Adria-Danube Region. 22nd International Workshop on Robotics in Alpe-Adria-Danube Region, 2013-09-11 - 2013-09-13, Portorož, Slovenia.
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Abstract
We address the problem of generating and stabilising a periodic walking pattern for a biped robot. A novel control framework based on adaptive oscillators combined with dynamic movement primitives was proposed. The proposed control system is a multi step process, where in the first step the system learns the dynamic walking trajectory which is demonstrated by imitating a spring loaded inverted pendulum (SLIP) controller. The learning process is completely autonomous and it is done in real time. In the second step the periodic dynamic pattern is executed using a low gain feedback controller combined with feed forward torque/force control signals. This allows compliant behaviour, smooth interaction with unstructured environment and generates stable ”open-loop” walking pattern. Compared with the SLIP walking control the proposed approach is more robust since it can produce stable walking pattern on a wider interval of forward walking velocity. The proposed control also allows smooth modulation of forward walking velocity.
| Item URL in elib: | https://elib.dlr.de/87259/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | Walking Control Using Adaptive Oscillators Combined with Dynamic Movement Primitives | ||||||||||||||||||||
| Authors: |
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| Date: | 2013 | ||||||||||||||||||||
| Journal or Publication Title: | 22nd International Workshop on Robotics in Alpe-Adria-Danube Region | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | Learning Dynamics, Walking gate, Dynamic Movement Primitives, Adaptive Oscillators | ||||||||||||||||||||
| Event Title: | 22nd International Workshop on Robotics in Alpe-Adria-Danube Region | ||||||||||||||||||||
| Event Location: | Portorož, Slovenia | ||||||||||||||||||||
| Event Type: | Workshop | ||||||||||||||||||||
| Event Start Date: | 11 September 2013 | ||||||||||||||||||||
| Event End Date: | 13 September 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: | Garofalo, Dr. Ing. Gianluca | ||||||||||||||||||||
| Deposited On: | 07 Jan 2014 17:29 | ||||||||||||||||||||
| Last Modified: | 24 Apr 2024 19:53 |
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