Utilizing Natural Dynamics for Reliable Legged Locomotion

Información del proyecto

NatDyReL

Identificador del acuerdo de subvención: 819358

DOI

10.3030/819358

Proyecto cerrado

Fecha de la firma de la CE 13 Marzo 2019

Fecha de inicio 1 Abril 2019

Fecha de finalización 30 Septiembre 2024

Financiado con arreglo a

• EXCELLENT SCIENCE - European Research Council (ERC)

Coste total

€ 1 981 500,00

Aportación de la UE

€ 1 981 500,00

Coordinado por

TECHNISCHE UNIVERSITAET WIEN
Austria

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Publicaciones

Conference proceedings (13)

Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study

Autores: Sait Sovukluk, Johannes Englsberger, Christian Ott
Publicado en: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Página(s) 10390-10396
Editor: IEEE
DOI: 10.1109/iros55552.2023.10341391

Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion

Autores: George Mesesan, Johannes Englsberger, Christian Ott
Publicado en: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, Página(s) 12780-12786, ISBN 978-1-7281-9077-8
Editor: IEEE
DOI: 10.1109/icra48506.2021.9560808

Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control

Autores: Shengzhi Wang, George Mesesan, Johannes Englsberger, Dongheui Lee, Christian Ott
Publicado en: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021, Página(s) 112-119, ISBN 978-1-7281-9372-4
Editor: IEEE
DOI: 10.1109/humanoids47582.2021.9555676

An Experimental Study on MPC based Joint Torque Control for Flexible Joint Robots

Autores: Christian Ott; Fabian Beck; Manuel Keppler
Publicado en: IFAC Symposium on Robot Control (SYROCO), Edición 17, 2022, ISSN 2405-8971
Editor: Elsevier
DOI: 10.1016/j.ifacol.2023.01.142

Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control

Autores: George Mesesan, Johannes Englsberger, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
Publicado en: 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019
Editor: IEEE
DOI: 10.1109/humanoids43949.2019.9035053

Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations

Autores: Sait Sovukluk, Christian Ott, M. Mert Ankaralı
Publicado en: 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2024, Página(s) 1-8
Editor: IEEE
DOI: 10.1109/humanoids57100.2023.10375153

Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots

Autores: Juan Miguel Garcia-Haro, Bernd Henze, George Mesesan, Santiago Martinez, Christian Ott
Publicado en: 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019, Página(s) 644-650, ISBN 978-1-5386-7630-1
Editor: IEEE
DOI: 10.1109/humanoids43949.2019.9035010

Control of a Class of Underactuated Systems by Successive Submanifold Stabilization

Autores: Fabian Beck, Noboru Sakamoto, Christian Ott
Publicado en: IFAC PapersOnline, 2021, ISSN 2405-8963
Editor: Elsevier

Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions

Autores: Tobias Egle, Johannes Englsberger, Christian Ott
Publicado en: International Conference on Humanoid Robots (Humanoids), 2022, ISBN 979-8-3503-0980-5
Editor: IEEE
DOI: 10.1109/humanoids53995.2022.10000236

Online Learning of Centroidal Angular Momentum Towards Enhancing DCM-Based Locomotion

Autores: Schuller, Robert; Mesesan, George-Adrian; Englsberger, Johannes; Lee, Jinoh; Ott, Christian
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), Edición 13, 2022, ISBN 978-1-7281-9682-4
Editor: IEEE
DOI: 10.1109/icra46639.2022.9811708

A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion

Autores: Konrad Frund; Anton Leonhard Shu; Florian Christoph Loeffl; Christian Ott
Publicado en: IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Edición 20, 2022, ISBN 979-8-3503-0980-5
Editor: IEEE
DOI: 10.1109/humanoids53995.2022.10000126

Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions

Autores: Fabian Beck, Maximilian Rehermann, Christian Ott
Publicado en: IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022, ISBN 979-8-3503-0980-5
Editor: IEEE
DOI: 10.1109/humanoids53995.2022.10000146

Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases

Autores: Tobias Egle, Johannes Englsberger, Christian Ott
Publicado en: 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2024, Página(s) 1-8
Editor: IEEE
DOI: 10.1109/humanoids57100.2023.10375152

Peer reviewed articles (12)

Passivity-based Motion and Force Tracking Control for Constrained Elastic Joint Robots

Autores: Xuming Meng, Manuel Keppler, Christian Ott
Publicado en: IEEE Control Systems Letters (L-CSS), 2022, ISSN 2475-1456
Editor: IEEE
DOI: 10.1109/lcsys.2022.3187345

Hierarchical Tracking Control With Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds

Autores: Gianluca Garofalo, Christian Ott
Publicado en: IEEE Robotics and Automation Letters, Edición 5/4, 2020, Página(s) 6153-6160, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2020.3010449

Agile and Dynamic Standing-up Control for Humanoids using 3D DivergentComponent of Motion in Multi-contact Scenario

Autores: Grazia Zambella, Robert Schuller, George Mesesan, Antonio Bicchi, Christian Ott, Jinoh Lee
Publicado en: Robotics and Automation Letters (RA-L), 2023, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2023.3297060

Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery

Autores: Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, Christian Ott
Publicado en: IEEE Robotics and Automation Letters, Edición 6/3, 2021, Página(s) 5689-5696, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3082023

Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics

Autores: Sait Sovukluk, Johannes Englsberger, Christian Ott
Publicado en: IEEE Robotics and Automation Letters, Edición 9, 2024, Página(s) 1131-1138, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2023.3342668

Adaptive Passivity-Based Multi-Task Tracking Control for Robotic Manipulators

Autores: Gianluca Garofalo, Xuwei Wu, Christian Ott
Publicado en: IEEE Robotics and Automation Letters, Edición 6/4, 2021, Página(s) 7129-7136, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3095930

Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control

Autores: Min Jun Kim, Alexander Werner, Florian Loeffl, Christian Ott
Publicado en: IEEE Transactions on Robotics, Edición Vol. 38, No. 1, 2022, Página(s) 584-598, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3071617

Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators

Autores: Harder, Marie Christin; Keppler, Manuel; Meng, Xuming; Ott, Christian; Höppner, Hannes; Dietrich, Alexander
Publicado en: Robotics and Automation Letters, Edición 1, 2022, ISSN 2377-3766
Editor: IEEE

Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control

Autores: Manuel Keppler, Florian Loeffl, David Wandinger, Clara Raschel, Christian Ott
Publicado en: IEEE Robotics and Automation Letters, Edición 6/4, 2021, Página(s) 7121-7128, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3097079

Unified Motion Planner for Walking, Running, and Jumping Using theThree-Dimensional Divergent Component of Motion

Autores: George Mesesan, Robert Schuller, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
Publicado en: IEEE Transactions on Robotics (TRO), 2023, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3321396

Impact Analysis for the Planning of Targeted Non-Slippage Impacts of Robot Manipulators

Autores: Annika Kirner, Christian Ott
Publicado en: IEEE Robotics and Automation Letters, Edición 9, 2024, Página(s) 2750-2757, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2024.3359536

Optimal Stabilization of Periodic Orbits

Autores: Fabian Beck, Noboru Sakamoto
Publicado en: IFAC-PapersOnLine, Edición 56, 2024, Página(s) 7509-7515, ISSN 2405-8963
Editor: Elsevier
DOI: 10.1016/j.ifacol.2023.10.648