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Development and control of autonomous, biped locomotion using efficient modeling, simulation, and optimization techniques

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

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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...
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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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