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Object-oriented dynamics modeling for legged robot trajectory optimization and control

Höpler, R. and Stelzer, M. and Stryk, Oskar von (2004):
Object-oriented dynamics modeling for legged robot trajectory optimization and control.
Aachen, Sascha Eysoldt Verlag, In: IEEE Intl. Conf. on Mechatronics and Robotics (MechRob), Aachen, [Conference or Workshop Item]

Abstract

This paper discusses the development and application of object-oriented modeling and implementation techniques to achieve a representation of the mechanical model amenable to the various requirements by legged robot applications. This leads to a uniform, modular, and flexible code generation while reaping the performance of efficient domain-specific articulated body algorithms. Trajectory optimization problems of bipedal and quadrupedal robots are investigated as applications. It is shown how a high-level specification of multibody dynamics models using component libraries serves as a basis for generation of a number of modules forming an ìoverall computational dynamics model. The selected examples illustrate how one copes with the emerging complexity by integrating various modules for, e.g., equations of motion, non-linear boundary conditions, symmetry and transition conditions, for multiple phases during motion. Variations of the mechanical structure, e.g., contact conditions can be treated either by multiple models or by reconfiguration of one model. Numerical results are presented for time- and energy-optimal trajectories of full three-dimensional models of a humanoid robot and a Sony four-legged robot.

Item Type: Conference or Workshop Item
Erschienen: 2004
Creators: Höpler, R. and Stelzer, M. and Stryk, Oskar von
Title: Object-oriented dynamics modeling for legged robot trajectory optimization and control
Language: English
Abstract:

This paper discusses the development and application of object-oriented modeling and implementation techniques to achieve a representation of the mechanical model amenable to the various requirements by legged robot applications. This leads to a uniform, modular, and flexible code generation while reaping the performance of efficient domain-specific articulated body algorithms. Trajectory optimization problems of bipedal and quadrupedal robots are investigated as applications. It is shown how a high-level specification of multibody dynamics models using component libraries serves as a basis for generation of a number of modules forming an ìoverall computational dynamics model. The selected examples illustrate how one copes with the emerging complexity by integrating various modules for, e.g., equations of motion, non-linear boundary conditions, symmetry and transition conditions, for multiple phases during motion. Variations of the mechanical structure, e.g., contact conditions can be treated either by multiple models or by reconfiguration of one model. Numerical results are presented for time- and energy-optimal trajectories of full three-dimensional models of a humanoid robot and a Sony four-legged robot.

Place of Publication: Aachen
Publisher: Sascha Eysoldt Verlag
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: IEEE Intl. Conf. on Mechatronics and Robotics (MechRob)
Event Location: Aachen
Date Deposited: 24 Jun 2019 13:36
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