elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Generalization of Optimal Motion Trajectories for Bipedal Walking

Werner, Alexander and Trautmann, Dietrich and Lee, Dongheui and Lampariello, Roberto (2015) Generalization of Optimal Motion Trajectories for Bipedal Walking. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. IEEE/RSJ International Conference on Intelligent Robots and Systems, 28 Sep - 02 Oct 2015, Hamburg, Germany.

[img] PDF
1MB

Abstract

Abstract— Control of robot locomotion profits from the use of pre-planned trajectories. This paper presents a way to generalize globally optimal and dynamically consistent trajectories for cyclic bipedal walking. A small task-space consisting of stride-length and step time is mapped to spline parameters which fully define the optimal joint space motion. The paper presents the impact of different machine learning algorithms for velocity and torque optimal trajectories with respect to optimality and feasibility. To demonstrate the usefulness of the trajectories, a control approach is presented that allows general walking including transitions between points in the task-space.

Item URL in elib:https://elib.dlr.de/98699/
Document Type:Conference or Workshop Item (Lecture)
Title:Generalization of Optimal Motion Trajectories for Bipedal Walking
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Werner, Alexanderalexander.werner (at) dlr.deUNSPECIFIED
Trautmann, DietrichUNSPECIFIEDUNSPECIFIED
Lee, DongheuiUNSPECIFIEDUNSPECIFIED
Lampariello, RobertoUNSPECIFIEDUNSPECIFIED
Date:28 September 2015
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Publisher:IEEE
Status:Published
Keywords:Humanoid and Bipedal Locomotion, Motion and Trajectory Generation, Optimal Control
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Hamburg, Germany
Event Type:international Conference
Event Dates:28 Sep - 02 Oct 2015
Organizer:IEEE/RSJ
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:13 Nov 2015 21:32
Last Modified:31 Jul 2019 19:55

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.