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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
Document Type:Conference Proceeding
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):License LogoUrheberrechtlich geschützt