Buchumschlag

Bio-inspired optimal control framework to generate walking motions for the humanoid robot iCub using whole body models

Bipedal locomotion remains one of the major open challenges of humanoid robotics. The common approaches are based on simple reduced model dynamics to generate walking trajectories, often neglecting the whole-body dynamics of the robots. As motions in nature are often considered as optimal with respe...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Hu, Yue (VerfasserIn) , Mombaur, Katja (VerfasserIn)
Dokumenttyp: Article (Journal)
Sprache:Englisch
Veröffentlicht: 12 February 2018
In: Applied Sciences
Year: 2018, Jahrgang: 8, Heft: 2
ISSN:2076-3417
DOI:10.3390/app8020278
Online-Zugang:Verlag, kostenfrei, Volltext: http://dx.doi.org/10.3390/app8020278
Verlag, kostenfrei, Volltext: http://www.mdpi.com/2076-3417/8/2/278
Volltext
Verfasserangaben:Yue Hu and Katja Mombaur

MARC

LEADER 00000caa a2200000 c 4500
001 1572144386
003 DE-627
005 20210815110205.0
007 cr uuu---uuuuu
008 180418s2018 xx |||||o 00| ||eng c
024 7 |a 10.3390/app8020278  |2 doi 
035 |a (DE-627)1572144386 
035 |a (DE-576)502144386 
035 |a (DE-599)BSZ502144386 
035 |a (OCoLC)1263972106 
040 |a DE-627  |b ger  |c DE-627  |e rda 
041 |a eng 
084 |a 27  |2 sdnb 
100 1 |a Hu, Yue  |e VerfasserIn  |0 (DE-588)1135229333  |0 (DE-627)890223254  |0 (DE-576)489727999  |4 aut 
245 1 0 |a Bio-inspired optimal control framework to generate walking motions for the humanoid robot iCub using whole body models  |c Yue Hu and Katja Mombaur 
264 1 |c 12 February 2018 
300 |a 22 
336 |a Text  |b txt  |2 rdacontent 
337 |a Computermedien  |b c  |2 rdamedia 
338 |a Online-Ressource  |b cr  |2 rdacarrier 
500 |a Gesehen am 18.04.2018 
520 |a Bipedal locomotion remains one of the major open challenges of humanoid robotics. The common approaches are based on simple reduced model dynamics to generate walking trajectories, often neglecting the whole-body dynamics of the robots. As motions in nature are often considered as optimal with respect to certain criteria, in this work, we present an optimal control-based approach that allows us to generate optimized walking motions using a precise whole-body dynamic model of the robot, in contrast with the common approaches. The optimal control problem is formulated to minimize a set of desired objective functions with respect to physical constraints of the robot and contact constraints of the walking phases; the problem is then solved with a direct multiple shooting method. We apply the formulation with combinations of different objective criteria to the model of a reduced version of the iCub humanoid robot of 15 internal DOF. The obtained trajectories are executed on the real robot, and we carry out a discussion on the differences between the outcomes of this approach with the classic approaches. 
650 4 |a bipedal locomotion 
650 4 |a humanoid robot 
650 4 |a optimal control 
650 4 |a optimization 
700 1 |a Mombaur, Katja  |e VerfasserIn  |0 (DE-588)1031167269  |0 (DE-627)735773769  |0 (DE-576)182041840  |4 aut 
773 0 8 |i Enthalten in  |t Applied Sciences  |d Basel : MDPI, 2011  |g 8(2018,2) Artikel-Nummer 278, 22 Seiten  |h Online-Ressource  |w (DE-627)737287640  |w (DE-600)2704225-X  |w (DE-576)379466716  |x 2076-3417  |7 nnas  |a Bio-inspired optimal control framework to generate walking motions for the humanoid robot iCub using whole body models 
773 1 8 |g volume:8  |g year:2018  |g number:2  |g extent:22  |a Bio-inspired optimal control framework to generate walking motions for the humanoid robot iCub using whole body models 
856 4 0 |u http://dx.doi.org/10.3390/app8020278  |x Verlag  |x Resolving-System  |z kostenfrei  |3 Volltext 
856 4 0 |u http://www.mdpi.com/2076-3417/8/2/278  |x Verlag  |z kostenfrei  |3 Volltext 
951 |a AR 
992 |a 20180418 
993 |a Article 
994 |a 2018 
998 |g 1031167269  |a Mombaur, Katja  |m 1031167269:Mombaur, Katja  |d 700000  |d 708000  |e 700000PM1031167269  |e 708000PM1031167269  |k 0/700000/  |k 1/700000/708000/  |p 2  |y j 
998 |g 1135229333  |a Hu, Yue  |m 1135229333:Hu, Yue  |d 700000  |d 708000  |e 700000PH1135229333  |e 708000PH1135229333  |k 0/700000/  |k 1/700000/708000/  |p 1  |x j 
999 |a KXP-PPN1572144386  |e 3006391748 
BIB |a Y 
SER |a journal 
JSO |a {"note":["Gesehen am 18.04.2018"],"id":{"doi":["10.3390/app8020278"],"eki":["1572144386"]},"relHost":[{"type":{"bibl":"periodical","media":"Online-Ressource"},"disp":"Bio-inspired optimal control framework to generate walking motions for the humanoid robot iCub using whole body modelsApplied Sciences","physDesc":[{"extent":"Online-Ressource"}],"id":{"issn":["2076-3417"],"zdb":["2704225-X"],"eki":["737287640"]},"note":["Gesehen am 19.02.13"],"recId":"737287640","origin":[{"dateIssuedKey":"2011","publisherPlace":"Basel","publisher":"MDPI","dateIssuedDisp":"2011-"}],"pubHistory":["1.2011 -"],"title":[{"title":"Applied Sciences","title_sort":"Applied Sciences","subtitle":"open access journal"}],"part":{"text":"8(2018,2) Artikel-Nummer 278, 22 Seiten","issue":"2","extent":"22","year":"2018","volume":"8"},"language":["eng"]}],"name":{"displayForm":["Yue Hu and Katja Mombaur"]},"language":["eng"],"recId":"1572144386","type":{"bibl":"article-journal","media":"Online-Ressource"},"origin":[{"dateIssuedDisp":"12 February 2018","dateIssuedKey":"2018"}],"person":[{"given":"Yue","roleDisplay":"VerfasserIn","role":"aut","display":"Hu, Yue","family":"Hu"},{"display":"Mombaur, Katja","family":"Mombaur","role":"aut","roleDisplay":"VerfasserIn","given":"Katja"}],"physDesc":[{"extent":"22 S."}],"title":[{"title":"Bio-inspired optimal control framework to generate walking motions for the humanoid robot iCub using whole body models","title_sort":"Bio-inspired optimal control framework to generate walking motions for the humanoid robot iCub using whole body models"}]} 
SRT |a HUYUEMOMBABIOINSPIRE1220 

Ähnliche Einträge