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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.show moreshow less

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Metadaten
Author:Stefan Glaser, Klaus DorerGND
Year of Publication:2013
Pagenumber:6
Language:English
GND Keyword:Roboter
Parent Title (English):Proceedings of the 8th Workshop on Humanoid Soccer Robots. 13. IEEE RAS , International Conference on Humanoid Robots, Atlanta, October 2013
Document Type:Conference Proceeding
Open Access:Frei zugänglich
Institutes:Bibliografie
Release Date:2016/06/03
Licence (German):License LogoEs gilt das UrhG
DOI:https://doi.org/10.13140/2.1.1939.0726