Trunk Controlled Motion Framework
- In this paper we propose a motion framework forbipedal robots that decouples motion definitions from stabilizingthe robot. This simplifies motion definitions yet allows dynamicmotion adaptations. Two applications, walking and stopping onone leg, demonstrate the power of the framework. We show thatour framework is able to perform walking and stopping on one legeven under extreme conditions andIn this paper we propose a motion framework forbipedal robots that decouples motion definitions from stabilizingthe robot. This simplifies motion definitions yet allows dynamicmotion adaptations. Two applications, walking and stopping onone leg, demonstrate the power of the framework. We show thatour framework is able to perform walking and stopping on one legeven under extreme conditions and improves walking benchmarkssignificantly in the RoboCup 3D soccer simulation domain.…
Document Type: | Conference Proceeding |
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Conference Type: | Konferenzartikel |
Zitierlink: | https://opus.hs-offenburg.de/1529 | Bibliografische Angaben |
Title (English): | Trunk Controlled Motion Framework |
Conference: | 8th Workshop on Humanoid Soccer Robots at 13th IEEE-RAS International Conference on Humanoid Robots, October 15th, 2013, Atlanta, GA |
Author: | Stefan GlaserStaff MemberGND, Klaus DorerStaff MemberORCiDGND |
Year of Publication: | 2013 |
Page Number: | 6 |
Parent Title (English): | Proceedings of 8th Workshop on Humanoid Soccer Robots |
DOI: | https://doi.org/10.13140/2.1.1939.0726 |
URL: | https://www.humanoidsoccer.org/ws13/papers/HSR13_Glaser.pdf |
Language: | English | Inhaltliche Informationen |
Institutes: | Fakultät Elektrotechnik und Informationstechnik (E+I) (bis 03/2019) |
Institutes: | Bibliografie |
Projekte / Magma Offenburg | |
GND Keyword: | Roboter | Formale Angaben |
Open Access: | Open Access |
Licence (German): | Urheberrechtlich geschützt |