Towards an Autonomous, Humanoid, and Dynamically Walking Robot: Modeling, OPTIMAL TRAJECTORY PLANNING, HARDWARE ARCHITECTURE, AND EXPERIMENTS (2003)
| Venue: | PROCEEDINGS OF THE 3RD INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS |
| Citations: | 14 - 11 self |
BibTeX
@INPROCEEDINGS{Buss03towardsan,
author = {Martin Buss and Michael Hardt and Jutta Kiener and Marion Sobotka and Maximilian Stelzer and Oskar von Stryk and Dirk Wollherr},
title = {Towards an Autonomous, Humanoid, and Dynamically Walking Robot: Modeling, OPTIMAL TRAJECTORY PLANNING, HARDWARE ARCHITECTURE, AND EXPERIMENTS},
booktitle = {PROCEEDINGS OF THE 3RD INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS},
year = {2003},
pages = {2491--2496},
publisher = {}
}
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Abstract
The development process to achieve walking motion with a recently constructed humanoid robot is discussed. The desired motion is based on the solution of an optimal control problem whose constraints depend upon the high-dimensional nonlinear multibody system dynamics of the 17 DoF humanoid and physical contact constraints with the environment. On-line control strategies are developed to track the precalculated trajectories. Experimental walking results with the humanoid robot are presented.
