Buss, M. ; Hardt, M. ; Kiener, Jutta ; Sobotka, M. ; Stelzer, M. ; Stryk, Oskar von ; Wollherr, D. (2003)
Towards an autonomous, humanoid, and dynamically walking robot: modeling, optimal trajectory planning, hardware architecture, and experiments.
International Conference on Humanoid Robots (Humanoids2003).
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
The complete development process for achieving walking motion with a recently constructed humanoid robot is discussed. The desired motion is based on the solution of an optimal control problem whose constraints depend upon the high-dimensional nonlinear multibody system dynamics of a 17 DoF humanoid and physical contact constraints with the environment. On-line control strategies are developed for tracking the precalculated trajectories. Experimental walking results with the humanoid robot are presented.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2003 |
| Autor(en): | Buss, M. ; Hardt, M. ; Kiener, Jutta ; Sobotka, M. ; Stelzer, M. ; Stryk, Oskar von ; Wollherr, D. |
| Art des Eintrags: | Bibliographie |
| Titel: | Towards an autonomous, humanoid, and dynamically walking robot: modeling, optimal trajectory planning, hardware architecture, and experiments |
| Sprache: | Englisch |
| Publikationsjahr: | September 2003 |
| Ort: | Karlsruhe/Munich, Germany |
| Buchtitel: | Proc. 3rd IEEE-RAS International Conference on Humanoid Robots (Humanoids2003) |
| Veranstaltungstitel: | International Conference on Humanoid Robots (Humanoids2003) |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | The complete development process for achieving walking motion with a recently constructed humanoid robot is discussed. The desired motion is based on the solution of an optimal control problem whose constraints depend upon the high-dimensional nonlinear multibody system dynamics of a 17 DoF humanoid and physical contact constraints with the environment. On-line control strategies are developed for tracking the precalculated trajectories. Experimental walking results with the humanoid robot are presented. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 24 Jun 2019 13:06 |
| Letzte Änderung: | 24 Jun 2019 13:06 |
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