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Werner, Alexander and Lampariello, Roberto and Ott, Christian (2014) Trajectory Optimization for Walking Robots with Series Elastic Actuators. In: IEEE Conference on Decision and Control (ISSN: 0733-8716). 53rd IEEE Conference on Decision and Control, 2014-12-15 - 2014-12-17, Los Angeles, California, USA. doi: 10.1109/CDC.2014.7039845. ISSN 0733-8716.
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Abstract
Series elastic actuators are a promising feature for future walking robots. Utilizing the natural oscillation of the elastic actuation can lead to efficient locomotion. However finding a matching combination of joint stiffness and actuator input is challenging as these robots share the properties of underactuated and hybrid dynamic systems. In this paper an optimization problem for cyclic walking of a robot with series elastic actuators is formulated and a flatness based solution method is presented. The method efficiently generates trajectories which exploit the actuator capabilities while respecting all limitations of the system. Additionally the relevant aspects of the trajectories for the design of a flexible robot are discussed.
| Item URL in elib: | https://elib.dlr.de/94321/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | Trajectory Optimization for Walking Robots with Series Elastic Actuators | ||||||||||||||||
| Authors: |
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| Date: | 15 December 2014 | ||||||||||||||||
| Journal or Publication Title: | IEEE Conference on Decision and Control (ISSN: 0733-8716) | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | Yes | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||
| DOI: | 10.1109/CDC.2014.7039845 | ||||||||||||||||
| ISSN: | 0733-8716 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | Robotics; Optimization; Switched systems | ||||||||||||||||
| Event Title: | 53rd IEEE Conference on Decision and Control | ||||||||||||||||
| Event Location: | Los Angeles, California, USA | ||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||
| Event Start Date: | 15 December 2014 | ||||||||||||||||
| Event End Date: | 17 December 2014 | ||||||||||||||||
| 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 - Walking Robotics/Locomotion [SY] | ||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||
| Deposited By: | Werner, Alexander | ||||||||||||||||
| Deposited On: | 09 Jan 2015 16:52 | ||||||||||||||||
| Last Modified: | 24 Apr 2024 20:00 |
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