Title :
Biologically inspired deadbeat control for running on 3D stepping stones
Author :
Johannes Englsberger;Pawel Koz?owski;Christian Ott
Author_Institution :
Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany
Abstract :
This paper enhances the Biologically Inspired Dead-beat (BID) controller from [1], to not only enable three-dimensional bipedal running on a horizontal plane but also on 3D stepping-stones. Further contributions of the paper are explicit foot step targeting during running, leg cross-over avoidance and the embedding of the BID controller into a QP-based whole-body controller. The BID controller is based on the encoding of leg forces and CoM trajectories during stance as polynomial splines, allowing for intuitive and primarily analytical controller design. It allows a real-time implementation, is highly robust against perturbations and enables versatile running patterns. The performance of the control framework is tested in various simulations for a bipedal point-mass model and an articulated multi-body model of the humanoid robot Toro.
Keywords :
"Boundary conditions","Legged locomotion","Force","Trajectory","Foot","Acceleration"
Conference_Titel :
Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on
DOI :
10.1109/HUMANOIDS.2015.7363501