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Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion

Englsberger, Johannes and Koolen, Twan and Bertrand, Sylvain and Pratt, Jerry and Ott, Christian and 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, Chicago, USA.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/90257/
Document Type:Conference or Workshop Item (Speech)
Title:Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Englsberger, Johannesjohannes.englsberger (at) dlr.deUNSPECIFIED
Koolen, Twantkoolen (at) MIT.EDUUNSPECIFIED
Bertrand, Sylvainsbertrand (at) ihmc.usUNSPECIFIED
Pratt, Jerryjpratt (at) ihmc.usUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:September 2014
Journal or Publication Title:IEEE RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:walking control, humanoid, bipedal, Divergent Component of Motion, Capture Point, three-dimensional, rough terrain
Event Title:International Conference on Intelligent Robots and Systems (IROS), 2014
Event Location:Chicago, USA
Event Type:international Conference
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: Englsberger, Johannes
Deposited On:08 Sep 2014 10:04
Last Modified:31 Jul 2019 19:47

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