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Titel:

Smooth Real-Time Walking-Pattern Generation for Humanoid Robot LOLA

Dokumenttyp:
Forschungsdaten
Veröffentlichungsdatum:
13.09.2022
Verantwortlich:
Seiwald, Philipp
Autorinnen / Autoren:
Seiwald, Philipp ; Sygulla, Felix ; Staufenberg, Nora-Sophie ; Rixen, Daniel
Institutionszugehörigkeit:
TUM
Herausgeber:
TUM
Identifikator:
doi:10.14459/2019mp1686406
Enddatum der Datenerzeugung:
03.07.2019
Fachgebiet:
MAS Maschinenbau
zusätzliche Fachgebiete:
Robotics
Quellen der Daten:
Experimente und Beobachtungen / experiments and observations; Simulationen / simulations
Datentyp:
Video-Aufzeichnungen / audiovisual collection
Beschreibung:
This video demonstrates our new approach for planning smooth center-of-mass trajectories for biped walking robots. The method is based on quintic spline interpolation and collocation and generates dynamically and kinematically feasible motions in real-time.
Method/Testscenario: Our humanoid robot Lola steps up and down a platform of 12.5cm height. The planned center-of-mass motion respects the dynamics and kinematic limits of the robot using simplified models. The complete motion lasts more than 17 seconds and is planned in less than 9 milliseconds (CPU only, single-core).
Simulation: Custom multi-body simulation Visualization with Blender (custom interface using Blenders Python API)
Experiments: Planning and control of the robot runs in real-time (onboard). External communication only triggers a signal to start and stop walking. The vision system is not active, thus foothold sequence is predefined.
This work is supported by the German Research Foundation (DFG, project number 407378162).
Links:

Paper: 10.1109/Humanoids43949.2019.9035076
YouTube: https://youtu.be/piQm_oTYXIc

Schlagworte:
humanoid; robot; Lola; legged; locomotion; planning; control
Technische Hinweise:
View and download (197 MB total, 6 Files)
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rsync rsync://m1686406@dataserv.ub.tum.de/m1686406/
Sprache:
en
Rechte:
by, http://creativecommons.org/licenses/by/4.0
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