TU Darmstadt / ULB / TUbiblio

The role of motion dynamics in the design, control and stability of bipedal and quadrupedal robots

Hardt, M. and von Stryk, O.
Kaminka, G.A. and Lima, P.U. and Rojas, R. (eds.) (2003):
The role of motion dynamics in the design, control and stability of bipedal and quadrupedal robots.
Fukuoka, Japan, Springer-Verlag, In: RoboCup 2002 International Symposium (Robot Soccer World Cup VI), Fukuoka, Japan, In: Lecture Notes in Artificial Intelligence, 2752, [Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2003
Editors: Kaminka, G.A. and Lima, P.U. and Rojas, R.
Creators: Hardt, M. and von Stryk, O.
Title: The role of motion dynamics in the design, control and stability of bipedal and quadrupedal robots
Language: English
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.

Series Name: Lecture Notes in Artificial Intelligence
Volume: 2752
Place of Publication: Fukuoka, Japan
Publisher: Springer-Verlag
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: RoboCup 2002 International Symposium (Robot Soccer World Cup VI)
Event Location: Fukuoka, Japan
Date Deposited: 24 Jun 2019 13:10
Related URLs:
Export:
Suche nach Titel in: TUfind oder in Google

Optionen (nur für Redakteure)

View Item View Item