<div class="csl-bib-body">
<div class="csl-entry">Egle, T., Englsberger, J., & Ott, C. (2023). Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases. In <i>2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)</i> (pp. 1–8). IEEE. https://doi.org/10.34726/5659</div>
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dc.identifier.uri
http://hdl.handle.net/20.500.12708/194647
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dc.identifier.uri
https://doi.org/10.34726/5659
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dc.description.abstract
In this paper, we present a robust DCM-based online trajectory generator with step timing adaptation using MPC in addition to manipulating the ground reaction forces by the DCM tracking controller. The proposed control framework utilizes three strategies to react to disturbances: timing adaptation, footstep position adjustment, and CoP modulation. Most state-of-the-art walking controllers only address some of these aspects, and especially the timing adaptation is often neglected in the presence of double support phases as the resulting optimization problem generally becomes nonlinear. We show that we can keep the fast disturbance rejection from the DCM tracking controller while adjusting the timing and location of the footsteps via MPC if the CoP-based ankle strategy is insufficient to maintain balance. This framework is particularly relevant for robots with active control of the CoP inside the support polygon by utilizing a combination of ankle and step strategy to take full advantage of the robot's capabilities in response to external disturbances. The method is validated in simulation on the robot kangaroo. It has lightweight, fully actuated legs and a sufficiently large contact area, making it highly suitable for a combined step time adaptation and contact force modulation approach.
en
dc.description.sponsorship
European Commission
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dc.language.iso
en
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dc.relation.ispartofseries
IEEE-RAS International Conference on Humanoid Robots
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dc.rights.uri
http://rightsstatements.org/vocab/InC/1.0/
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dc.subject
Humanoid Legged Locomotion
en
dc.subject
Walking Motion Planning
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dc.subject
Push Recovery
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dc.title
Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases
en
dc.type
Inproceedings
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dc.type
Konferenzbeitrag
de
dc.rights.license
Urheberrechtsschutz
de
dc.rights.license
In Copyright
en
dc.identifier.doi
10.34726/5659
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dc.contributor.affiliation
Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR), Germany
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dc.relation.isbn
979-8-3503-0327-8
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dc.relation.doi
10.1109/Humanoids57100.2023
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dc.relation.issn
2164-0572
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dc.description.startpage
1
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dc.description.endpage
8
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dc.relation.grantno
819358
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dc.rights.holder
IEEE
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dc.type.category
Full-Paper Contribution
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dc.relation.eissn
2164-0580
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tuw.booktitle
2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)
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tuw.book.ispartofseries
IEEE-RAS International Conference on Humanoid Robots
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tuw.relation.publisher
IEEE
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tuw.relation.publisherplace
Piscataway
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tuw.project.title
Utilizing Natural Dynamics for Reliable Legged Locomotion