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Titel:

Time-variable, event-based walking control for biped robots

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Wahrmann, Daniel; Wu, Yizhe; Sygulla, Felix; Hildebrandt, Arne-Christoph; Wittmann, Robert; Seiwald, Philipp; Rixen, Daniel
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...     »
Stichworte:
lola
Zeitschriftentitel:
International Journal of Advanced Robotic Systems
Jahr:
2018
Band / Volume:
15
Heft / Issue:
2
Nachgewiesen in:
Scopus
Reviewed:
ja
Volltext / DOI:
doi:10.1177/1729881418768918
Hinweise:
Open Access
Publikationsdatum:
19.04.2018
TUM Einrichtung:
Lehrstuhl für Angewandte Mechanik
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