Höpler, Robert ; Stelzer, Maximilian ; Stryk, Oskar von
Hrsg.: Troch, I. ; Breitenecker, F. (2006)
Object-Oriented Dynamics Modeling of Walking Robots for Model-Based Trajectory Optimization and Control.
5th MATHMOD. Vienna, Austria
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (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.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2006 |
| Herausgeber: | Troch, I. ; Breitenecker, F. |
| Autor(en): | Höpler, Robert ; Stelzer, Maximilian ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Object-Oriented Dynamics Modeling of Walking Robots for Model-Based Trajectory Optimization and Control |
| Sprache: | Englisch |
| Publikationsjahr: | Februar 2006 |
| Ort: | Austria |
| (Heft-)Nummer: | 30 |
| Buchtitel: | Proc. 5th MATHMOD Vienna, February 8-10 |
| Reihe: | ARGESIM Reports |
| Veranstaltungstitel: | 5th MATHMOD |
| Veranstaltungsort: | Vienna, Austria |
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| Kurzbeschreibung (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. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 09 Jul 2019 10:36 |
| Letzte Änderung: | 09 Jul 2019 10:36 |
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