Englsberger, Johannes und Ott, Christian und Albu-Schäffer, Alin (2015) Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tro.2015.2405592. ISSN 1552-3098.
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Kurzfassung
In this paper, the concept of divergent component of motion (DCM, also called “Capture Point”) is extended to 3-D. We introduce the “Enhanced Centroidal Moment Pivot point” (eCMP) and the “Virtual Repellent Point” (VRP), which allow for the encoding of both direction and magnitude of the external forces and the total force (i.e., external plus gravitational forces) acting on the robot. Based on eCMP, VRP, and DCM, we present methods for real-time planning and tracking control of DCM trajectories in 3-D. The basic DCM trajectory generator is extended to produce continuous leg force profiles and to facilitate the use of toe-off motion during double support. The robustness of the proposed control framework is thoroughly examined, and its capabilities are verified both in simulations and experiments.
elib-URL des Eintrags: | https://elib.dlr.de/96741/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion | ||||||||||||||||
Autoren: |
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Datum: | 18 März 2015 | ||||||||||||||||
Erschienen in: | IEEE Transactions on Robotics | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/tro.2015.2405592 | ||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
ISSN: | 1552-3098 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | bipedal walking, Divergent Component of Motion, DCM, Capture Point, three-dimensional, rough terrain | ||||||||||||||||
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), R - Laufroboter/Lokomotion [SY] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Englsberger, Dr.-Ing. Johannes | ||||||||||||||||
Hinterlegt am: | 18 Jun 2015 15:24 | ||||||||||||||||
Letzte Änderung: | 27 Nov 2023 12:52 |
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