The Sweaty 2022 RoboCup Humanoid Extended Abstract
- Sweaty has already participated several times in RoboCup soccer competitions (Adult Size). Now the work is focused on stabilizing the gait. Moreover, we would like to overcome the constraints of a ZMP-algorithm that has a horizontal footplate as precondition for the simplification of the equations. In addition we would like to switch between impedance and position control with a fuzzy-likeSweaty has already participated several times in RoboCup soccer competitions (Adult Size). Now the work is focused on stabilizing the gait. Moreover, we would like to overcome the constraints of a ZMP-algorithm that has a horizontal footplate as precondition for the simplification of the equations. In addition we would like to switch between impedance and position control with a fuzzy-like algorithm that might help to minimize jerks when Sweaty’s feet touch the ground.…
Document Type: | Conference Proceeding |
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Conference Type: | Konferenz-Abstract |
Zitierlink: | https://opus.hs-offenburg.de/7015 | Bibliografische Angaben |
Title (English): | The Sweaty 2022 RoboCup Humanoid Extended Abstract |
Conference: | RoboCup 2022, 13-17 July 2022, Bangkok, Thailand |
Author: | Klaus DorerStaff MemberORCiDGND, Ulrich HochbergStaff MemberGND |
Year of Publication: | 2022 |
Contributing Corporation: | Hochschule Offenburg |
Page Number: | 2 |
Parent Title (English): | RoboCup Team Description Papers |
URL: | https://submission.robocuphumanoid.com/uploads//Sweaty-tdp-6227d349efbbb.pdf |
Language: | English | Inhaltliche Informationen |
Institutes: | Fakultät Elektrotechnik, Medizintechnik und Informatik (EMI) (ab 04/2019) |
Fakultät Maschinenbau und Verfahrenstechnik (M+V) | |
Institutes: | Bibliografie |
Projekte / Sweaty | |
Tag: | RoboCup | Formale Angaben |
Relevance: | Keine Relevanz |
Open Access: | Open Access |
Bronze | |
Licence (German): | Urheberrechtlich geschützt |