Kit based motion generator for a soft walking robot

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

Standard

Kit based motion generator for a soft walking robot. / Schiller, Lars; Maruthavanan, Duraikannan; Seibel, Arthur et al.
ASME 2020 International Mechanical Engineering Congress and Exposition : Volume 7A: Dynamics, Vibration, and Control: Control Theory and Applications. The American Society of Mechanical Engineers (ASME), 2020. V07AT07A009 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 7A-2020).

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

Harvard

Schiller, L, Maruthavanan, D, Seibel, A & Schlattmann, J 2020, Kit based motion generator for a soft walking robot. in ASME 2020 International Mechanical Engineering Congress and Exposition : Volume 7A: Dynamics, Vibration, and Control: Control Theory and Applications., V07AT07A009, ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), vol. 7A-2020, The American Society of Mechanical Engineers (ASME), ASME 2020 International Mechanical Engineering Congress and Exposition - IMECE 2020, Virtual, Online, 16.11.20. https://doi.org/10.1115/IMECE2020-23151

APA

Schiller, L., Maruthavanan, D., Seibel, A., & Schlattmann, J. (2020). Kit based motion generator for a soft walking robot. In ASME 2020 International Mechanical Engineering Congress and Exposition : Volume 7A: Dynamics, Vibration, and Control: Control Theory and Applications Article V07AT07A009 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 7A-2020). The American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2020-23151

Vancouver

Schiller L, Maruthavanan D, Seibel A, Schlattmann J. Kit based motion generator for a soft walking robot. In ASME 2020 International Mechanical Engineering Congress and Exposition : Volume 7A: Dynamics, Vibration, and Control: Control Theory and Applications. The American Society of Mechanical Engineers (ASME). 2020. V07AT07A009. (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)). doi: 10.1115/IMECE2020-23151

Bibtex

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title = "Kit based motion generator for a soft walking robot",
abstract = "In order to control high-level goals such as walking speed and direction or position of legged robots, a locomotion controller is required. This complicated task can be solved in many different ways. The approach presented here selects the optimal gait pattern from a discrete, predefined set of possibilities to get closer to a given target position. The method is based on an off-line component: elementary gait patterns are generated by trajectory optimization using a simulation model, and an on-line component: for given robot and target positions the optimal next elementary gait pattern is chosen based on a minimization problem, and the joint space references are derived from it. To ensure feasible subsequent poses, the elementary patterns always begin and end with one and the same pose, so that they can be placed on top of each other like Lego bricks. A great advantage of this method is a straightforward transition between different motion modes, such as switching from trotting to crawling. It is discussed how many different elementary patterns are needed to ensure a stable locomotion control. Finally, in simulation and experiment, it is shown that the robot can master any obstacle course using the proposed locomotion controller.",
keywords = "Engineering",
author = "Lars Schiller and Duraikannan Maruthavanan and Arthur Seibel and Josef Schlattmann",
note = "Publisher Copyright: {\textcopyright} 2020 American Society of Mechanical Engineers (ASME). All rights reserved.; ASME 2020 International Mechanical Engineering Congress and Exposition - IMECE 2020 : ASME{\textquoteright}s largest research and development, IMECE 2020 ; Conference date: 16-11-2020 Through 19-11-2020",
year = "2020",
month = nov,
day = "16",
doi = "10.1115/IMECE2020-23151",
language = "English",
series = "ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)",
publisher = "The American Society of Mechanical Engineers (ASME)",
booktitle = "ASME 2020 International Mechanical Engineering Congress and Exposition",
address = "United States",
url = "https://event.asme.org/IMECE-2020/Program",

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RIS

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T1 - Kit based motion generator for a soft walking robot

AU - Schiller, Lars

AU - Maruthavanan, Duraikannan

AU - Seibel, Arthur

AU - Schlattmann, Josef

N1 - Publisher Copyright: © 2020 American Society of Mechanical Engineers (ASME). All rights reserved.

PY - 2020/11/16

Y1 - 2020/11/16

N2 - In order to control high-level goals such as walking speed and direction or position of legged robots, a locomotion controller is required. This complicated task can be solved in many different ways. The approach presented here selects the optimal gait pattern from a discrete, predefined set of possibilities to get closer to a given target position. The method is based on an off-line component: elementary gait patterns are generated by trajectory optimization using a simulation model, and an on-line component: for given robot and target positions the optimal next elementary gait pattern is chosen based on a minimization problem, and the joint space references are derived from it. To ensure feasible subsequent poses, the elementary patterns always begin and end with one and the same pose, so that they can be placed on top of each other like Lego bricks. A great advantage of this method is a straightforward transition between different motion modes, such as switching from trotting to crawling. It is discussed how many different elementary patterns are needed to ensure a stable locomotion control. Finally, in simulation and experiment, it is shown that the robot can master any obstacle course using the proposed locomotion controller.

AB - In order to control high-level goals such as walking speed and direction or position of legged robots, a locomotion controller is required. This complicated task can be solved in many different ways. The approach presented here selects the optimal gait pattern from a discrete, predefined set of possibilities to get closer to a given target position. The method is based on an off-line component: elementary gait patterns are generated by trajectory optimization using a simulation model, and an on-line component: for given robot and target positions the optimal next elementary gait pattern is chosen based on a minimization problem, and the joint space references are derived from it. To ensure feasible subsequent poses, the elementary patterns always begin and end with one and the same pose, so that they can be placed on top of each other like Lego bricks. A great advantage of this method is a straightforward transition between different motion modes, such as switching from trotting to crawling. It is discussed how many different elementary patterns are needed to ensure a stable locomotion control. Finally, in simulation and experiment, it is shown that the robot can master any obstacle course using the proposed locomotion controller.

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BT - ASME 2020 International Mechanical Engineering Congress and Exposition

PB - The American Society of Mechanical Engineers (ASME)

T2 - ASME 2020 International Mechanical Engineering Congress and Exposition - IMECE 2020

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ER -

DOI