Bipedal walking control based on capture point dynamics

Johannes Englsberger, Christian Ott, Maximo A. Roa, Alin Albu-Schäffer, Gerhard Hirzinger

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

229 Zitate (Scopus)

Abstract

This paper builds up on the Capture Point concept and exploits the simple form of the dynamical equations of the Linear Inverted Pendulum model when formulated in terms of the center of mass and the Capture Point. The presented methods include (i) the derivation of a Capture Point (CP) control principle based on the natural dynamics of the linear inverted pendulum (LIP), which stabilizes the walking robot and motivates (ii) the design of a CP tracking and a CP end-of-step controller. The exponential stability of the CP control law is proven. Tilting is avoided by proper projection of the commanded zero moment point. The robustness of the derived control algorithms is analyzed analytically and verified in simulation and experiments.

OriginalspracheEnglisch
TitelIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
UntertitelCelebrating 50 Years of Robotics
Seiten4420-4427
Seitenumfang8
DOIs
PublikationsstatusVeröffentlicht - 2011
Extern publiziertJa
Veranstaltung2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, USA/Vereinigte Staaten
Dauer: 25 Sept. 201130 Sept. 2011

Publikationsreihe

NameIEEE International Conference on Intelligent Robots and Systems

Konferenz

Konferenz2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Land/GebietUSA/Vereinigte Staaten
OrtSan Francisco, CA
Zeitraum25/09/1130/09/11

Fingerprint

Untersuchen Sie die Forschungsthemen von „Bipedal walking control based on capture point dynamics“. Zusammen bilden sie einen einzigartigen Fingerprint.

Dieses zitieren