Hardt, M. ; Stryk, O. von
Hrsg.: Kaminka, G. A. ; Lima, P. U. ; Rojas, R. (2003)
The role of motion dynamics in the design, control and stability of bipedal and quadrupedal robots.
RoboCup 2002 International Symposium (Robot Soccer World Cup VI). Fukuoka, Japan
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
Fundamental principles and recent methods for investigating the nonlinear dynamics of legged robot motions with respect to control, stability and design are discussed. One of them is the still challenging problem of producing dynamically stable gaits. The generation of fast walking or running motions require methods and algorithms adept at handling the nonlinear dynamical effects and stability issues which arise. Reduced, recursive multibody algorithms, a numerical optimal control package, and new stability and energy performance indices are presented which are well-suited for this purpose. Difficulties and open problems are discussed along with numerical investigations into the proposed gait generation scheme. Our analysis considers both biped and quadrupedal gaits with particular reference to the problems arising in soccer-playing tasks encountered at the RoboCup where our team, the Darmstadt Dribbling Dackels, participates as part of the German Team in the Sony Legged Robot League.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2003 |
| Herausgeber: | Kaminka, G. A. ; Lima, P. U. ; Rojas, R. |
| Autor(en): | Hardt, M. ; Stryk, O. von |
| Art des Eintrags: | Bibliographie |
| Titel: | The role of motion dynamics in the design, control and stability of bipedal and quadrupedal robots |
| Sprache: | Englisch |
| Publikationsjahr: | Juni 2003 |
| Ort: | Fukuoka, Japan |
| Verlag: | Springer-Verlag |
| Reihe: | Lecture Notes in Artificial Intelligence |
| Band einer Reihe: | 2752 |
| Veranstaltungstitel: | RoboCup 2002 International Symposium (Robot Soccer World Cup VI) |
| Veranstaltungsort: | Fukuoka, Japan |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Fundamental principles and recent methods for investigating the nonlinear dynamics of legged robot motions with respect to control, stability and design are discussed. One of them is the still challenging problem of producing dynamically stable gaits. The generation of fast walking or running motions require methods and algorithms adept at handling the nonlinear dynamical effects and stability issues which arise. Reduced, recursive multibody algorithms, a numerical optimal control package, and new stability and energy performance indices are presented which are well-suited for this purpose. Difficulties and open problems are discussed along with numerical investigations into the proposed gait generation scheme. Our analysis considers both biped and quadrupedal gaits with particular reference to the problems arising in soccer-playing tasks encountered at the RoboCup where our team, the Darmstadt Dribbling Dackels, participates as part of the German Team in the Sony Legged Robot League. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 24 Jun 2019 13:10 |
| Letzte Änderung: | 01 Dez 2021 12:49 |
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