Online Walking Gait Generation with Predefined Variable Height of the Center of Mass

Johannes Mayr; Hubert Gattringer; Hartmut Bremer

doi:10.1007/978-3-642-25489-5_55

Online Walking Gait Generation with Predefined Variable Height of the Center of Mass

Institute of Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

For biped robots one main issue is the generation of stable trajectories for the center of mass (CoM). Several different approaches based on the zero moment point (ZMP) scheme have been presented in the past. Due to the complex dynamic structure of bipedal robots, most of the considered algorithms use a simplified time invariant linear model to approximate the dynamics of the system. This model is extended to a time variant one and then used to generate stable CoM trajectories with variable predefined CoM height. This allows to generate trajectories online for walking underneath obstacles with more accuracy. It is shown that using this extended scheme it is possible to overcome some kinematic limits as joint speed in the knee or the maximum step length for common walking.

Original language	English
Title of host publication	Proceedings of the Fourth International Conference on Intelligent Robotics and Applications
Editors	Jeschke Sabina, Liu Honghai and Schilberg Daniel
Place of Publication	Heidelberg
Publisher	Springer Berlin
Pages	569-578
Number of pages	10
Volume	7102
ISBN (Print)	978-3-642-25488-8
DOIs	https://doi.org/10.1007/978-3-642-25489-5_55
Publication status	Published - Dec 2011

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 2
Volume	7102 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Fields of science

203022 Technical mechanics
203013 Mechanical engineering
202035 Robotics
203015 Mechatronics

JKU Focus areas

Mechatronics and Information Processing

Access to Document

10.1007/978-3-642-25489-5_55

Cite this

Mayr, J., Gattringer, H., & Bremer, H. (2011). Online Walking Gait Generation with Predefined Variable Height of the Center of Mass. In Jeschke Sabina, Liu Honghai and Schilberg Daniel (Ed.), Proceedings of the Fourth International Conference on Intelligent Robotics and Applications (Vol. 7102, pp. 569-578). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7102 LNAI, No. PART 2). Springer Berlin. https://doi.org/10.1007/978-3-642-25489-5_55

Mayr, Johannes ; Gattringer, Hubert ; Bremer, Hartmut. / Online Walking Gait Generation with Predefined Variable Height of the Center of Mass. Proceedings of the Fourth International Conference on Intelligent Robotics and Applications. editor / Jeschke Sabina, Liu Honghai and Schilberg Daniel. Vol. 7102 Heidelberg : Springer Berlin, 2011. pp. 569-578 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).

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title = "Online Walking Gait Generation with Predefined Variable Height of the Center of Mass",

abstract = "For biped robots one main issue is the generation of stable trajectories for the center of mass (CoM). Several different approaches based on the zero moment point (ZMP) scheme have been presented in the past. Due to the complex dynamic structure of bipedal robots, most of the considered algorithms use a simplified time invariant linear model to approximate the dynamics of the system. This model is extended to a time variant one and then used to generate stable CoM trajectories with variable predefined CoM height. This allows to generate trajectories online for walking underneath obstacles with more accuracy. It is shown that using this extended scheme it is possible to overcome some kinematic limits as joint speed in the knee or the maximum step length for common walking.",

author = "Johannes Mayr and Hubert Gattringer and Hartmut Bremer",

year = "2011",

month = dec,

doi = "10.1007/978-3-642-25489-5\_55",

language = "English",

isbn = "978-3-642-25488-8",

volume = "7102",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Berlin",

number = "PART 2",

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editor = "\{Jeschke Sabina, Liu Honghai and Schilberg Daniel\}",

booktitle = "Proceedings of the Fourth International Conference on Intelligent Robotics and Applications",

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Mayr, J, Gattringer, H & Bremer, H 2011, Online Walking Gait Generation with Predefined Variable Height of the Center of Mass. in Jeschke Sabina, Liu Honghai and Schilberg Daniel (ed.), Proceedings of the Fourth International Conference on Intelligent Robotics and Applications. vol. 7102, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 2, vol. 7102 LNAI, Springer Berlin, Heidelberg, pp. 569-578. https://doi.org/10.1007/978-3-642-25489-5_55

Online Walking Gait Generation with Predefined Variable Height of the Center of Mass. / Mayr, Johannes; Gattringer, Hubert ; Bremer, Hartmut.
Proceedings of the Fourth International Conference on Intelligent Robotics and Applications. ed. / Jeschke Sabina, Liu Honghai and Schilberg Daniel. Vol. 7102 Heidelberg: Springer Berlin, 2011. p. 569-578 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7102 LNAI, No. PART 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

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N2 - For biped robots one main issue is the generation of stable trajectories for the center of mass (CoM). Several different approaches based on the zero moment point (ZMP) scheme have been presented in the past. Due to the complex dynamic structure of bipedal robots, most of the considered algorithms use a simplified time invariant linear model to approximate the dynamics of the system. This model is extended to a time variant one and then used to generate stable CoM trajectories with variable predefined CoM height. This allows to generate trajectories online for walking underneath obstacles with more accuracy. It is shown that using this extended scheme it is possible to overcome some kinematic limits as joint speed in the knee or the maximum step length for common walking.

AB - For biped robots one main issue is the generation of stable trajectories for the center of mass (CoM). Several different approaches based on the zero moment point (ZMP) scheme have been presented in the past. Due to the complex dynamic structure of bipedal robots, most of the considered algorithms use a simplified time invariant linear model to approximate the dynamics of the system. This model is extended to a time variant one and then used to generate stable CoM trajectories with variable predefined CoM height. This allows to generate trajectories online for walking underneath obstacles with more accuracy. It is shown that using this extended scheme it is possible to overcome some kinematic limits as joint speed in the knee or the maximum step length for common walking.

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Mayr J, Gattringer H , Bremer H. Online Walking Gait Generation with Predefined Variable Height of the Center of Mass. In Jeschke Sabina, Liu Honghai and Schilberg Daniel, editor, Proceedings of the Fourth International Conference on Intelligent Robotics and Applications. Vol. 7102. Heidelberg: Springer Berlin. 2011. p. 569-578. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2). doi: 10.1007/978-3-642-25489-5_55

Online Walking Gait Generation with Predefined Variable Height of the Center of Mass

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