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Petric, Tadej und Zlajpah, Leon und Garofalo, Gianluca und 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, 11-13 Sep 2013, Portorož, Slovenia.
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Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/87259/ | ||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
| Titel: | Walking Control Using Adaptive Oscillators Combined with Dynamic Movement Primitives | ||||||||||||||||||||
| Autoren: |
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| Datum: | 2013 | ||||||||||||||||||||
| Erschienen in: | 22nd International Workshop on Robotics in Alpe-Adria-Danube Region | ||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||
| Stichwörter: | Learning Dynamics, Walking gate, Dynamic Movement Primitives, Adaptive Oscillators | ||||||||||||||||||||
| Veranstaltungstitel: | 22nd International Workshop on Robotics in Alpe-Adria-Danube Region | ||||||||||||||||||||
| Veranstaltungsort: | Portorož, Slovenia | ||||||||||||||||||||
| Veranstaltungsart: | Workshop | ||||||||||||||||||||
| Veranstaltungsdatum: | 11-13 Sep 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: | Garofalo, Dr. Ing. Gianluca | ||||||||||||||||||||
| Hinterlegt am: | 07 Jan 2014 17:29 | ||||||||||||||||||||
| Letzte Änderung: | 29 Mär 2023 00:19 |
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- Walking Control Using Adaptive Oscillators Combined with Dynamic Movement Primitives. (deposited 07 Jan 2014 17:29) [Gegenwärtig angezeigt]
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