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Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion

Englsberger, Johannes and Ott, Christian and 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. ISSN 1552-3098

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Abstract

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.

Item URL in elib:https://elib.dlr.de/96741/
Document Type:Article
Title:Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Englsberger, Johannesjohannes.englsberger (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:18 March 2015
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1552-3098
Status:Published
Keywords:bipedal walking, Divergent Component of Motion, DCM, Capture Point, three-dimensional, rough terrain
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, 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: Englsberger, Johannes
Deposited On:18 Jun 2015 15:24
Last Modified:06 Sep 2019 15:18

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