Englsberger, Johannes und Koolen, Twan und Bertrand, Sylvain und Pratt, Jerry und Ott, Christian und Albu-Schäffer, Alin (2014) Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion. In: IEEE RSJ International Conference on Intelligent Robots and Systems. International Conference on Intelligent Robots and Systems (IROS), 2014, 2014-09-14 - 2014-09-18, Chicago, USA. doi: 10.1109/iros.2014.6943128.
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Kurzfassung
This paper works with the concept of Divergent Component of Motion (DCM), also called ’(instantaneous) Capture Point’. We present two real-time DCM trajectory generators for uneven (three-dimensional) ground surfaces, which lead to continuous leg (and corresponding ground reaction) force profiles and facilitate the use of toe-off motion during double support. Thus, the resulting DCM trajectories are well suited for real-world robots and allow for increased step length and step height. The performance of the proposed methods was tested in numerous simulations and experiments on IHMC’s Atlas robot and DLR’s humanoid robot TORO.
elib-URL des Eintrags: | https://elib.dlr.de/90257/ | ||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||||||
Titel: | Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | September 2014 | ||||||||||||||||||||||||||||
Erschienen in: | IEEE RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||
DOI: | 10.1109/iros.2014.6943128 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | walking control, humanoid, bipedal, Divergent Component of Motion, Capture Point, three-dimensional, rough terrain | ||||||||||||||||||||||||||||
Veranstaltungstitel: | International Conference on Intelligent Robots and Systems (IROS), 2014 | ||||||||||||||||||||||||||||
Veranstaltungsort: | Chicago, USA | ||||||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||||||
Veranstaltungsbeginn: | 14 September 2014 | ||||||||||||||||||||||||||||
Veranstaltungsende: | 18 September 2014 | ||||||||||||||||||||||||||||
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: | Englsberger, Dr.-Ing. Johannes | ||||||||||||||||||||||||||||
Hinterlegt am: | 08 Sep 2014 10:04 | ||||||||||||||||||||||||||||
Letzte Änderung: | 07 Jun 2024 10:41 |
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