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Trajectory Optimization for Walking Robots with Series Elastic Actuators

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, 15-17 Dec 2014, Los Angeles, California, USA. 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/
Document Type:Conference or Workshop Item (Speech)
Title:Trajectory Optimization for Walking Robots with Series Elastic Actuators
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Werner, Alexanderalexander.werner (at) dlr.deUNSPECIFIED
Lampariello, Robertoroberto.lampariello (at) dlr.deUNSPECIFIED
Ott, Christianchristian.ott (at) dlr.deUNSPECIFIED
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
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 Dates:15-17 Dec 2014
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 Laufroboter/Lokomotion
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:31 Jul 2019 19:51

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