Periodic Reporting for period 3 - NatDyReL (Utilizing Natural Dynamics for Reliable Legged Locomotion)
Période du rapport: 2022-04-01 au 2023-09-30
* In work package 2 we extended our locomotion framework to include reactive step adaptation in order to react to external disturbances at the body and the feet (stumble reaction). Moreover, we developed an algorithm for the generation and control of angular momentum during balancing and locomotion. Both algorithms were verified on the exiting torque-controlled robot TORO.
* Highly dynamic motions for running and jumping were developed based on simulation models. Particular emphasis in the motion generation was paid on the smooth transition between walking and running motions.
* The evaluation of the mentioned concepts was done based on extensive simulations for walking, running, and jumping motions. Selected algorithms are currently being verified in the lab on the experimental test-bed C-Runner.
In parallel to the mechanical design we will intensify or efforts on the harmonization of the whole-body locomotion controllers with the elastic actuation and the ESP control framework for elastic actuators.