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Document type:
Zeitschriftenaufsatz 
Author(s):
Wahrmann, Daniel; Wu, Yizhe; Sygulla, Felix; Hildebrandt, Arne-Christoph; Wittmann, Robert; Seiwald, Philipp; Rixen, Daniel 
Title:
Time-variable, event-based walking control for biped robots 
Abstract:
Most walking controllers for biped robots are based on a synchronized phase-based structure, where trajectories are executed following predefined timing constraints. This inherent fixed time dependency makes humanoid robots extremely susceptible to irregularities in terrain compared to their biological counterparts. We present an event-based control strategy which incorporates a time-variable phase to help deal with unexpected early and late contact situations. It results in an improved robustne...    »
 
Keywords:
lola 
Journal title:
International Journal of Advanced Robotic Systems 
Year:
2018 
Journal volume:
15 
Journal issue:
Covered by:
Scopus 
Reviewed:
ja 
Notes:
Open Access 
Date of publication:
19.04.2018 
TUM Institution:
Lehrstuhl für Angewandte Mechanik