A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots

Lakatos, Dominic; Federigi, Yuri; Gumpert, Thomas; Henze, Bernd; Hermann, Milan; Loeffl, Florian; Schmidt, Florian; Seidel, Daniel; Albu‐Schäffer, Alin

doi:10.1109/icra.2019.8793920

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2020

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Cited by 5 publications

(2 citation statements)

References 14 publications

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“…Besides the main contributions, two book chapters , two journal articles [Ott et al, , 2016, and eight conference publications [Garofalo et al, 2015, 2018, Mesesan et al, 2017, Lakatos et al, 2019, Olivieri et al, 2019, Rossini et al, 2019, García-Haro et al, 2019 have been co-authored, which are related to the topic but not incorporated into this manuscript.…”

Section: State Of the Art And Contributionsmentioning

confidence: 99%

Whole-Body Control for Multi-Contact Balancing of Humanoid Robots

Henze

2022

Springer Tracts in Advanced Robotics

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Section: State Of the Art And Contributionsmentioning

confidence: 99%

Whole-Body Control for Multi-Contact Balancing of Humanoid Robots

Henze

2022

Springer Tracts in Advanced Robotics

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“…In previous work we proposed an analytical solution to the static balancing task [18] by formulating the problem as the task to distribute contact forces caused by gravity. The approach focused on controlling internal tensions by moving the equilibrium of intrinsic elasticities.…”

Section: Introductionmentioning

confidence: 99%

Using Elastically Actuated Legged Robots in Rough Terrain: Experiments with DLR Quadruped bert

Seidel

Hermann

Gumpert

et al. 2020

2020 IEEE Aerospace Conference

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This paper addresses walking and balancing in rough terrain for legged locomotion in planetary exploration as an alternative to the commonly used wheeled locomotion. In contrast to the latter, where active balancing is not necessary, legged locomotion requires constant effort to keep the main body stabilized during motion. While common quadrupedal robots require to carefully plan motions through torque control and force distribution, this paper presents an approach where elastic elements in the drive train function as an intrinsic balancing component that allows to ignore inaccuracies in the locomotion pattern and passively accommodate for terrain unevenness. The approach proposes a static walking gait algorithm, which is formulated for a general quadrupedal robot, and a hardware foot design to support the locomotion pattern. The method is experimentally tested on an elastically actuated quadrupedal robot.

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Introduction

Henze

2021

Springer Tracts in Advanced Robotics

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A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots

Cited by 5 publications

References 14 publications

Whole-Body Control for Multi-Contact Balancing of Humanoid Robots

Whole-Body Control for Multi-Contact Balancing of Humanoid Robots

Using Elastically Actuated Legged Robots in Rough Terrain: Experiments with DLR Quadruped bert

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