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Walking Control Using Adaptive Oscillators Combined with Dynamic Movement Primitives

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, 11-13 Sep 2013, 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/
Document Type:Conference or Workshop Item (Speech)
Title:Walking Control Using Adaptive Oscillators Combined with Dynamic Movement Primitives
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Petric, Tadejtadej.petric (at) ijs.siUNSPECIFIED
Zlajpah, Leonleon.zlajpah (at) ijs.siUNSPECIFIED
Garofalo, Gianlucagianluca.garofalo (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
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 Dates:11-13 Sep 2013
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 (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Garofalo, Dr. Ing. Gianluca
Deposited On:07 Jan 2014 17:29
Last Modified:08 May 2014 23:30

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  • Walking Control Using Adaptive Oscillators Combined with Dynamic Movement Primitives. (deposited 07 Jan 2014 17:29) [Currently Displayed]

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