Hardt, M. ; Stryk, Oskar von ; Wollherr, D. ; Buss, M. (2003)
Development and control of autonomous, biped locomotion using efficient modeling, simulation, and optimization techniques.
IEEE Int. Conf. on Robotics and Automation (ICRA).
Konferenzveröffentlichung, Bibliographie
Dies ist die neueste Version dieses Eintrags.
Kurzbeschreibung (Abstract)
Methods for modeling, simulating and optimizing the dynamics, stability and performance of legged robot locomotion are discussed in this paper. It is demonstrated how these tools are used in the design, implementation and operation of a humanoid robot. The selection and integration of fundamental hard- and software needed for autonomous operation and high agility is presented for a recently developed fully-actuated 17 DoF humanoid. The results are additionally reported from simulations and gait optimizations completed during its development using a 3D dynamic biped model coupled with multiple physical and stability constraints.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2003 |
| Autor(en): | Hardt, M. ; Stryk, Oskar von ; Wollherr, D. ; Buss, M. |
| Art des Eintrags: | Bibliographie |
| Titel: | Development and control of autonomous, biped locomotion using efficient modeling, simulation, and optimization techniques |
| Sprache: | Englisch |
| Publikationsjahr: | September 2003 |
| Ort: | Taipeh, Taiwan |
| Buchtitel: | Proc. IEEE Int. Conf. on Robotics and Automation (ICRA) |
| Veranstaltungstitel: | IEEE Int. Conf. on Robotics and Automation (ICRA) |
| URL / URN: | http://ieeexplore.ieee.org/Xplore/login.jsp?url=http%3A%2F%2... |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Methods for modeling, simulating and optimizing the dynamics, stability and performance of legged robot locomotion are discussed in this paper. It is demonstrated how these tools are used in the design, implementation and operation of a humanoid robot. The selection and integration of fundamental hard- and software needed for autonomous operation and high agility is presented for a recently developed fully-actuated 17 DoF humanoid. The results are additionally reported from simulations and gait optimizations completed during its development using a 3D dynamic biped model coupled with multiple physical and stability constraints. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 24 Jun 2019 13:33 |
| Letzte Änderung: | 24 Jun 2019 13:33 |
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| Suche nach Titel in: | TUfind oder in Google |
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