Bipedal walking control based on capture point dynamics

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

doi:10.1109/IROS.2011.6048045

Bipedal walking control based on capture point dynamics

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

Deutsches Zentrum für Luft- und Raumfahrt (DLR)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

239 Scopus citations

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.

Original language	English
Title of host publication	IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Celebrating 50 Years of Robotics
Pages	4420-4427
Number of pages	8
DOIs	https://doi.org/10.1109/IROS.2011.6048045
State	Published - 2011
Externally published	Yes
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States Duration: 25 Sep 2011 → 30 Sep 2011

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/Territory	United States
City	San Francisco, CA
Period	25/09/11 → 30/09/11

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10.1109/IROS.2011.6048045

Cite this

Englsberger, J., Ott, C., Roa, M. A., Albu-Schäffer, A., & Hirzinger, G. (2011). Bipedal walking control based on capture point dynamics. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 4420-4427). Article 6048045 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048045

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title = "Bipedal walking control based on capture point dynamics",

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.",

author = "Johannes Englsberger and Christian Ott and Roa, {Maximo A.} and Alin Albu-Sch{\"a}ffer and Gerhard Hirzinger",

year = "2011",

doi = "10.1109/IROS.2011.6048045",

language = "English",

isbn = "9781612844541",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "4420--4427",

booktitle = "IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems",

note = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 ; Conference date: 25-09-2011 Through 30-09-2011",

}

Englsberger, J, Ott, C, Roa, MA, Albu-Schäffer, A & Hirzinger, G 2011, Bipedal walking control based on capture point dynamics. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048045, IEEE International Conference on Intelligent Robots and Systems, pp. 4420-4427, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 25/09/11. https://doi.org/10.1109/IROS.2011.6048045

Bipedal walking control based on capture point dynamics. / Englsberger, Johannes; Ott, Christian; Roa, Maximo A. et al.
IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 4420-4427 6048045 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Ott, Christian

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N2 - 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.

AB - 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.

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Y2 - 25 September 2011 through 30 September 2011

ER -

Bipedal walking control based on capture point dynamics

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