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Object-Oriented Dynamics Modeling of Walking Robots for Model-Based Trajectory Optimization and Control

Höpler, Robert and Stelzer, Maximilian and Stryk, Oskar von Troch, I. and Breitenecker, F. (eds.) (2006):
Object-Oriented Dynamics Modeling of Walking Robots for Model-Based Trajectory Optimization and Control.
In: ARGESIM Reports, In: Proc. 5th MATHMOD Vienna, February 8-10, Austria, In: 5th MATHMOD, Vienna, Austria, [Conference or Workshop Item]

Abstract

Modeling walking robot dynamics is an intricate subject when dealing with optimization and model based control. When modeled as multibody systems with a free floating base walking robots lead to high dimensional equation systems. Walking involves frequent changes in the kinematic structure due to varying contact situations. However, specialized algorithms that treat the contacts separately and thus can make use of the tree structure of the system can be used. This paper discusses the dynamics algorithms used and discusses the development and application of objectoriented modeling and implementation techniques to achieve a representation of the mechanical model amenable to the various requirements by legged robot applications. Optimal control techniques are involved to generate optimal walking trajectories of a biped and a quadruped robot. Numerical results are shown.

Item Type: Conference or Workshop Item
Erschienen: 2006
Editors: Troch, I. and Breitenecker, F.
Creators: Höpler, Robert and Stelzer, Maximilian and Stryk, Oskar von
Title: Object-Oriented Dynamics Modeling of Walking Robots for Model-Based Trajectory Optimization and Control
Language: English
Abstract:

Modeling walking robot dynamics is an intricate subject when dealing with optimization and model based control. When modeled as multibody systems with a free floating base walking robots lead to high dimensional equation systems. Walking involves frequent changes in the kinematic structure due to varying contact situations. However, specialized algorithms that treat the contacts separately and thus can make use of the tree structure of the system can be used. This paper discusses the dynamics algorithms used and discusses the development and application of objectoriented modeling and implementation techniques to achieve a representation of the mechanical model amenable to the various requirements by legged robot applications. Optimal control techniques are involved to generate optimal walking trajectories of a biped and a quadruped robot. Numerical results are shown.

Title of Book: Proc. 5th MATHMOD Vienna, February 8-10
Series Name: ARGESIM Reports
Number: 30
Place of Publication: Austria
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: 5th MATHMOD
Event Location: Vienna, Austria
Date Deposited: 09 Jul 2019 10:36
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