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Towards an autonomous, humanoid, and dynamically walking robot: modeling, optimal trajectory planning, hardware architecture, and experiments

Buss, M. and Hardt, M. and Kiener, Jutta and Sobotka, M. and Stelzer, M. and Stryk, Oskar von and Wollherr, D. (2003):
Towards an autonomous, humanoid, and dynamically walking robot: modeling, optimal trajectory planning, hardware architecture, and experiments.
In: Proc. 3rd IEEE-RAS International Conference on Humanoid Robots (Humanoids2003), Karlsruhe/Munich, Germany, In: International Conference on Humanoid Robots (Humanoids2003), [Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2003
Creators: Buss, M. and Hardt, M. and Kiener, Jutta and Sobotka, M. and Stelzer, M. and Stryk, Oskar von and Wollherr, D.
Title: Towards an autonomous, humanoid, and dynamically walking robot: modeling, optimal trajectory planning, hardware architecture, and experiments
Language: English
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.

Title of Book: Proc. 3rd IEEE-RAS International Conference on Humanoid Robots (Humanoids2003)
Place of Publication: Karlsruhe/Munich, Germany
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: International Conference on Humanoid Robots (Humanoids2003)
Date Deposited: 24 Jun 2019 13:06
Identification Number: BussHardtetal.Humanoids:2003
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