Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion

In this paper, the concept of divergent component of motion (DCM, also called "Capture Point") is extended to 3-D. We introduce the "Enhanced Centroidal Moment Pivot point" (eCMP) and the "Virtual Repellent Point" (VRP), which allow for the encoding of both direction an...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on robotics 2015-04, Vol.31 (2), p.355-368
Main Authors: Englsberger, Johannes, Ott, Christian, Albu-Schaffer, Alin
Format: Article
Language:English
Subjects:
Bipedal robots
capture point
divergent component of motion
Dynamics
Foot
Force
Generators
Legged locomotion
Motion control
Pivots
Planning
Real time
Robotics
Robots
Robustness
rough terrain
Simulation
Three dimensional
Tracking control
Tracking control systems
Trajectories
Trajectory
walking control
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this paper, the concept of divergent component of motion (DCM, also called "Capture Point") is extended to 3-D. We introduce the "Enhanced Centroidal Moment Pivot point" (eCMP) and the "Virtual Repellent Point" (VRP), which allow for the encoding of both direction and magnitude of the external forces and the total force (i.e., external plus gravitational forces) acting on the robot. Based on eCMP, VRP, and DCM, we present methods for real-time planning and tracking control of DCM trajectories in 3-D. The basic DCM trajectory generator is extended to produce continuous leg force profiles and to facilitate the use of toe-off motion during double support. The robustness of the proposed control framework is thoroughly examined, and its capabilities are verified both in simulations and experiments.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2015.2405592