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Autonomous Robots
Erschienen in: Autonomous Robots 1/2013

01.07.2013

Observer based biped walking control, a sensor fusion approach

verfasst von: Oliver Urbann, Stefan Tasse

Erschienen in: Autonomous Robots | Ausgabe 1/2013

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Abstract

In humanoid walking research, the prevailing approach is to utilize an abstraction of the robot to a single center of mass (3D linear inverted pendulum mode). Smaller disturbances or an oscillation of the body are typical for a walking robot and must be addressed by an appropriate sensor feedback. To this end, this paper proposes a novel observer fusing joint angle sensors and force sensing resistors. This new method of sensor feedback in a preview control system balances the walk by damping those disturbances and oscillations of the body. Moreover, novel stabilizing methods for defining reference trajectories for the zero moment point and limbs are examined.
Vorheriger Artikel Path planning for grasping operations using an adaptive PCA-based sampling method
Nächster Artikel Probabilistically safe motion planning to avoid dynamic obstacles with uncertain motion patterns

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Fußnoten
6
Note that the procedure in Sect. 3.1 is especially for preview controller
 
9
A video of the experiments depicting the disturbance, oscillation (as explained in Sect. 2) and the stabilizing effect of the observer can be seen here: http://​www.​youtube.​com/​watch?​v=​ZuebspajdZU It also shows the maximum speed that is reachable
 
10
In this experiment the axes of the robot coordinate system and the world coordinate system are parallel
 
14
For a detailed description of the structure see Nao Devils Team Report 2011 (Tasse et al. 2011): http://​www.​irf.​tu-dortmund.​de/​nao-devils/​download/​2011/​TeamReport-2011-NaoDevilsDortmun​d.​pdf
 
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Metadaten
Titel
Observer based biped walking control, a sensor fusion approach
verfasst von
Oliver Urbann
Stefan Tasse
Publikationsdatum
01.07.2013
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 1/2013
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-013-9333-4

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