TY - GEN
T1 - Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion
AU - Englsberger, Johannes
AU - Koolen, Twan
AU - Bertrand, Sylvain
AU - Pratt, Jerry
AU - Ott, Christian
AU - Albu-Schäffer, Alin
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - This paper works with the concept of Divergent Component of Motion (DCM), also called '(instantaneous) Capture Point'. We present two real-time DCM trajectory generators for uneven (three-dimensional) ground surfaces, which lead to continuous leg (and corresponding ground reaction) force profiles and facilitate the use of toe-off motion during double support. Thus, the resulting DCM trajectories are well suited for real-world robots and allow for increased step length and step height. The performance of the proposed methods was tested in numerous simulations and experiments on IHMC's Atlas robot and DLR's humanoid robot TORO.
AB - This paper works with the concept of Divergent Component of Motion (DCM), also called '(instantaneous) Capture Point'. We present two real-time DCM trajectory generators for uneven (three-dimensional) ground surfaces, which lead to continuous leg (and corresponding ground reaction) force profiles and facilitate the use of toe-off motion during double support. Thus, the resulting DCM trajectories are well suited for real-world robots and allow for increased step length and step height. The performance of the proposed methods was tested in numerous simulations and experiments on IHMC's Atlas robot and DLR's humanoid robot TORO.
UR - http://www.scopus.com/inward/record.url?scp=84911468520&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6943128
DO - 10.1109/IROS.2014.6943128
M3 - Conference contribution
AN - SCOPUS:84911468520
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4022
EP - 4029
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -