Development and control of autonomous, biped locomotion using efficient modeling, simulation, and optimization techniques

Michael Hardt; Oskar Von Stryk; Dirk Wollherr; Martin Buss

Development and control of autonomous, biped locomotion using efficient modeling, simulation, and optimization techniques

Michael Hardt, Oskar Von Stryk, Dirk Wollherr, Martin Buss

Publikation: Beitrag in Fachzeitschrift › Konferenzartikel › Begutachtung

11 Zitate (Scopus)

Abstract

Methods for modeling, simulating and optimizing the dynamics, stability and performance of legged robot locomotion are discussed in this paper. It is demonstrated how these tools are used in the design, implementation and operation of a humanoid robot. The selection and integration of fundamental hard- and software needed for autonomous operation and high agility is presented for a recently developed fully-actuated 17 DoF humanoid. The results are additionally reported from simulations and gait optimizations completed during its development using a 3D dynamic biped model coupled with multiple physical and stability constraints.

Originalsprache	Englisch
Seiten (von - bis)	1356-1361
Seitenumfang	6
Fachzeitschrift	Proceedings - IEEE International Conference on Robotics and Automation
Jahrgang	1
Publikationsstatus	Veröffentlicht - 2003
Extern publiziert	Ja
Veranstaltung	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan Dauer: 14 Sept. 2003 → 19 Sept. 2003

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abstract = "Methods for modeling, simulating and optimizing the dynamics, stability and performance of legged robot locomotion are discussed in this paper. It is demonstrated how these tools are used in the design, implementation and operation of a humanoid robot. The selection and integration of fundamental hard- and software needed for autonomous operation and high agility is presented for a recently developed fully-actuated 17 DoF humanoid. The results are additionally reported from simulations and gait optimizations completed during its development using a 3D dynamic biped model coupled with multiple physical and stability constraints.",

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AU - Buss, Martin

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AB - Methods for modeling, simulating and optimizing the dynamics, stability and performance of legged robot locomotion are discussed in this paper. It is demonstrated how these tools are used in the design, implementation and operation of a humanoid robot. The selection and integration of fundamental hard- and software needed for autonomous operation and high agility is presented for a recently developed fully-actuated 17 DoF humanoid. The results are additionally reported from simulations and gait optimizations completed during its development using a 3D dynamic biped model coupled with multiple physical and stability constraints.

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M3 - Conference article

AN - SCOPUS:0344876460

SN - 1050-4729

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JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 2003 IEEE International Conference on Robotics and Automation

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ER -

Development and control of autonomous, biped locomotion using efficient modeling, simulation, and optimization techniques

Abstract

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