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

Hardt, M. and Stryk, Oskar von and Wollherr, D. and Buss, M. (2003):
Development and control of autonomous, biped locomotion using efficient modeling, simulation, and optimization techniques.
In: Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Taipeh, Taiwan, In: IEEE Int. Conf. on Robotics and Automation (ICRA), [Online-Edition: http://ieeexplore.ieee.org/Xplore/login.jsp?url=http%3A%2F%2...],
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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.

Item Type: Conference or Workshop Item
Erschienen: 2003
Creators: Hardt, M. and Stryk, Oskar von and Wollherr, D. and Buss, M.
Title: Development and control of autonomous, biped locomotion using efficient modeling, simulation, and optimization techniques
Language: English
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.

Title of Book: Proc. IEEE Int. Conf. on Robotics and Automation (ICRA)
Place of Publication: Taipeh, Taiwan
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: IEEE Int. Conf. on Robotics and Automation (ICRA)
Date Deposited: 24 Jun 2019 13:33
Official URL: http://ieeexplore.ieee.org/Xplore/login.jsp?url=http%3A%2F%2...
Identification Number: ICRA:2003
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