Self-stable Omnidirectional Walking with Compliant Joints
Self-stable Omnidirectional Walking with Compliant Joints
复制标题
关节顺应自稳定全向行走
DOI：
--
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Sven Behnke
中科院分区：
文献类型：
--
作者：
M. Missura;Sven Behnke
双足步行是仿人机器人足球比赛中最基本的技术之一。当他们的机器人第一个拿到球，用稳定的脚保持控球，并果断地将球推向对手球门时，稳定而快速的步态为球队提供了获胜的优势。人形机器人联盟中最成功的球队通常都有可靠的行走机器人。在这方面的贡献，我们描述了全方位的步态团队NimbRo，最成功的机器人足球队在RoboCup的历史。步行算法是开环和无模型的。它基于高度可配置的中央模式生成的节奏运动信号，并与兼容的伺服设置相结合，以实现相对较高的自稳定性。我们讨论了这种方法的优势与其他成功的团队的方法相比，并支持我们的论证与实验结果。
Bipedal walking is one of the most essential skills in humanoid robot soccer. A stable and fast gait gives teams a winning edge when their robots are the first at the ball, maintain ball control with sure feet, and drive the ball decisively towards the opponent goal. The most successful teams in the Humanoid League are typically characterized by reliably walking robots. In this contribution, we describe the omnidirectional gait of team NimbRo, one of the most successful robot soccer teams in the history of RoboCup. The walk algorithm is open-loop and model-free. It is based on highly configurable, centralpattern-generated rhythmic motion signals and combines well with a compliant servo setting to achieve a relatively high level of self-stability. We discuss the advantages of this approach in comparison with methods of other successful teams and support our argumentation with experimental results.
使用迭代学习控制识别的伺服执行器模型实现合规机器人行为
DOI：
10.1007/978-3-662-44468-9_19
发表时间：
2014
期刊：
影响因子：
--
作者：
Max Schwarz;Sven Behnke
通讯作者：
Sven Behnke